Implements and application units having sensors for sensing agricultural plants of agricultural fields

ABSTRACT

Described herein are implements and applicators having sensors to determine plant characteristics of agricultural plants of agricultural fields. In one embodiment, an implement includes a frame to be positioned in operation between first and second rows of plants, a plant contacting member being pivotally coupled to the frame in operation such that the plant contacting member to be deflected rearwardly with respect to a direction of motion of the frame upon the plant contacting member contacting a plant of the first row of plants. The implement includes a sensor for sensing deflection of the plant contacting member by the plant to determine plant characteristics of the plant. The implement can also apply material to plants.

RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No. 62/721,368 filed on Aug. 22, 2018 entitled: IMPLEMENTS AND APPLICATION UNITS HAVING SENSORS FOR SENSING DATA TO DETERMINE AGRICULTURAL PLANT CHARACTERISTICS OF AGRICULTURAL FIELDS, the entire contents of which are incorporated by reference herein.

TECHNICAL FIELD

Embodiments of the present disclosure relate to implements and application units for sensing data to determine agricultural plant characteristics of agricultural fields.

BACKGROUND

Planters are used for planting seeds of crops (e.g., corn, soybeans) in a field. Planters may also be used for applying a fluid application (e.g., fertilizers, chemicals) to the soil or crops. Other fluid applicators include sprayers and sidedress bars. Applying the fluid application between rows can be challenging in terms of controlling this application for the different row units.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:

FIG. 1 shows an example of a system for performing agricultural operations of agricultural fields including operations of an implement having application units in accordance with one embodiment.

FIG. 2 illustrates an architecture of an implement 200 for delivering applications (e.g., fluid applications, fluid mixture applications) to agricultural fields and sensing plant data in accordance with one embodiment.

FIG. 3A illustrates a rear view of an application unit 300 (e.g., a fluid application unit) 300 for applying an application to plants P-1, P-2 (e.g., corn plants, soy bean plants, etc.) in accordance with one embodiment.

FIG. 3B illustrates a top view of an application unit 300 (e.g., a fluid application unit) 300 for applying an application to plants P-1, P-2 (e.g., corn plants, soy bean plants, etc.) with sensors for sensing position changes of linkage members to determine plant characteristics in accordance with one embodiment.

FIG. 4 illustrates an embodiment (rear view 402) of an application unit 400 (e.g., fluid application unit 400) with a sensor for sensing position changes of a linkage member to determine plant characteristics.

FIG. 5 illustrates an embodiment (rear view 502) of an application unit 500 (e.g., fluid application unit 500) with a sensor for sensing position changes of a linkage member to determine plant characteristics.

FIGS. 6A and 6B illustrate another embodiment of a fluid application unit 600.

FIG. 7 illustrates another embodiment of a fluid application unit 700.

FIG. 8A illustrates an embodiment of a fluid application unit 800 with sensors for sensing position changes of linkage members to determine plant characteristics.

FIG. 8B illustrates an embodiment of a fluid application unit 850 with sensors for sensing position changes of linkage members to determine plant characteristics.

FIG. 9A illustrates a top view 902 of an application unit 900 (e.g., a fluid application unit) 900 for applying an application to plants P-9, P-10 (e.g., corn plants, soy bean plants, etc.) with sensors for sensing position changes of linkage members to determine plant characteristics in accordance with one embodiment.

FIG. 9B illustrates a top view 904 in which the linkage members 920 a, 920 b are biased in a non-centered position between rows of plants in accordance with one embodiment.

FIG. 9C illustrates a side view 940 of the application unit 900 in accordance with one embodiment.

FIG. 9D illustrates a top view 952 of application units 950, 980 (e.g., a fluid application unit) for applying an application to plants P-9, P-10 (e.g., corn plants, soy bean plants, etc.) in accordance with one embodiment.

FIG. 10 illustrates a side view of an application unit 1000 in accordance with one embodiment.

FIG. 11 illustrates a rear view 1102 of an application unit 1100 in accordance with one embodiment with sensors for sensing position changes of flexible members to determine plant characteristics.

FIG. 12 shows an example of a system 1200 that includes a machine 1202 (e.g., tractor, combine harvester, etc.) and an implement 1240 (e.g., planter, cultivator, plough, sprayer, spreader, irrigation implement, etc.) in accordance with one embodiment.

FIG. 13A (side view) illustrates an embodiment of a fluid application unit 1300.

FIG. 13B (top view) illustrates an embodiment of a liquid application unit 1350 having multiple trench forming members (e.g., knives) and fluid outlets.

FIG. 14 illustrates an adjustable bracket 1400 for coupling any of the frames described herein to a bar 10 in accordance with one embodiment.

FIG. 15A illustrates an isometric view of an application unit 1500 with sensors for sensing position changes of linkage members to determine plant characteristics in accordance with one embodiment.

FIG. 15B illustrates an isometric view of a fluid biasing system for use with application unit 1532 in accordance with one embodiment.

FIG. 16 illustrates an isometric view of an application unit 1600 positioned in proximity to rows of plants with sensors for sensing position changes of linkage members to determine plant characteristics in accordance with one embodiment.

FIG. 17A illustrates an isometric view of an application unit 1700 in accordance with one embodiment.

FIG. 17B illustrates an isometric view of an application unit 1750 with sensors for sensing position changes of linkage members to determine plant characteristics in accordance with one embodiment.

FIG. 17C illustrates a side view of an application unit 1752 in accordance with one embodiment.

FIG. 17D illustrates an isometric view of an application unit 1780 in accordance with another embodiment.

FIG. 18A illustrates an isometric view of a solenoid actuated system for use with application unit 1700 with sensors for sensing position changes of linkage members to determine plant characteristics in accordance with one embodiment.

FIG. 18B illustrates an isometric view of a motor actuated system for use with application unit 1700 in accordance with one embodiment.

FIG. 19A illustrates an isometric view of a linkage system actuated with a solenoid for use with application unit 1700 with sensors for sensing position changes of linkage members to determine plant characteristics in accordance with one embodiment.

FIG. 19B illustrates an isometric view of a linkage system actuated with a motor for use with application unit 1700 in accordance with one embodiment.

FIG. 19C illustrates an isometric view of a linkage system actuated with a ground contacting arm for use with application unit 1700 in accordance with one embodiment.

FIG. 20A is a side elevation view of an alternative nozzle having a biasing ski according to one embodiment.

FIG. 20B is a bottom view of the nozzle of FIG. 20A with the biasing ski removed for clarity.

FIG. 21 is a top view of a flexible member having a reinforcement disposed thereon according to one embodiment.

FIG. 22 is an alternative embodiment of an application unit 3200 with sensors for sensing position changes of linkage members to determine plant characteristics according to one embodiment.

FIG. 23 is an alternative embodiment for a spring disposed over a flexible member.

FIG. 24A illustrates a side elevation view of an application unit 2700 according to one embodiment.

FIG. 24B is a top plan view of the embodiment of FIG. 24A.

FIG. 24C is a rear elevation view of the embodiment of FIG. 24A traversing a field with plants in rows.

FIG. 24D is a partial perspective view from the bottom of the embodiment of FIG. 24A with some components removed for clarity.

FIG. 24E is a partial perspective view of the embodiment of FIG. 24A with some components removed for clarity.

FIG. 25 is a partial bottom view of the embodiment of FIG. 24A with an optional stop with some components removed for clarity.

FIG. 26 is a partial top view of the embodiment of FIG. 24A showing optional bias element 2748.

FIG. 27 is a top plan view of an application unit 2650.

FIG. 28A is a top view of an application unit with a damper according to one embodiment.

FIG. 28B is a top view of an application unit with a damper according to one embodiment.

FIG. 28C is a top view of an application unit with a damper according to one embodiment.

FIG. 28D is a top view of an application unit with a damper according to one embodiment.

FIG. 29 illustrates a side elevation view of a fluid apparatus disposed on an application unit 2700 from FIG. 24A with the coulter assembly removed according to one embodiment.

FIG. 30 is a top plan view of the embodiment of FIG. 29.

FIG. 31 is a perspective view of a fluid apparatus disposed on an application unit 1500 from FIG. 15A according to one embodiment.

FIG. 32 is a perspective view of a fluid apparatus disposed on an application unit 1532 from FIG. 15B according to one embodiment.

FIG. 33 is a side elevation view of a fluid apparatus disposed on an application unit from FIG. 17C according to one embodiment.

FIG. 34 is a perspective view of a fluid apparatus disposed on an application unit 3200 from FIG. 25 according to one embodiment.

FIG. 35 is a perspective view of a variable orifice valve or check valve disposed at an outlet according to one embodiment.

SUMMARY

Described herein are implements and applicators having sensors to sense data for determining plant characteristics of agricultural plants of agricultural fields. In one embodiment, an application unit includes a frame to be positioned in operation between first and second rows of plants, a plant contacting member being pivotally coupled to the frame in operation such that the plant contacting member to be deflected rearwardly with respect to a direction of motion of the frame upon the plant contacting member contacting a plant of the first row of plants. The application unit includes a sensor for sensing deflection of the plant contacting member by the plant to determine plant characteristics of the plant.

DETAILED DESCRIPTION

All references cited herein are incorporated herein in their entireties. If there is a conflict between a definition herein and in an incorporated reference, the definition herein shall control.

Described herein are systems, implements, and application units having sensors for sensing positional changes of components (e.g., planting contacting members, feelers, guidance members, linkage members, flexible members, etc) and using this sensed position data to determine plant characteristics of agricultural fields. The sensors generate data for determining dimensions (e.g., stalk diameter) and locations of the agricultural plants. In various embodiments, when illustrated as an application unit/fluid delivery arm, the implement does not need to be an application unit/fluid delivery arm. The implement can just be used as a plant contacting member to measure plant properties.

In an embodiment, an application unit includes a frame to be positioned in operation between first and second rows of plants, a plant contacting member being pivotally coupled to the frame in operation such that the plant contacting member to be deflected rearwardly with respect to a direction of motion of the frame upon the plant contacting member contacting a plant of the first row of plants. The application unit includes a sensor for sensing deflection of the plant contacting member by the plant to determine plant characteristics of the plant.

Each application unit includes components (e.g., planting contacting members, feelers, guidance members, linkage members, flexible members, etc) having sensors for sensing plants and determining dimensions and locations of the plants in a field.

In the following description, numerous details are set forth. It will be apparent, however, to one skilled in the art, that embodiments of the present disclosure may be practiced without these specific details. In some instances, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the present disclosure.

FIG. 1 shows an example of a system 100 for performing agricultural operations (e.g., sensing agricultural plants, applying fluid applications to plants) of agricultural fields including operations of an implement having application units in accordance with one embodiment. For example and in one embodiment, the system 100 may be implemented as a cloud based system with servers, data processing devices, computers, etc. Aspects, features, and functionality of the system 100 can be implemented in servers, planters, planter monitors, sprayers, sidedress bars, combines, laptops, tablets, computer terminals, client devices, user devices (e.g., device 190), handheld computers, personal digital assistants, cellular telephones, cameras, smart phones, mobile phones, computing devices, or a combination of any of these or other data processing devices.

In other embodiments, the system 100 includes a network computer or an embedded processing device within another device (e.g., display device) or within a machine (e.g., planter, combine), or other types of data processing systems having fewer components or perhaps more components than that shown in FIG. 1. The system 100 (e.g., cloud based system) and agricultural operations can sense plants and control and monitor fluid applications using an implement or machine. The system 100 includes machines 140, 142, 144, 146 and implements 141, 143, 145 coupled to a respective machine 140, 142, 144, 146. The implements (or machines) can include sensors for sensing plants and also flow devices for controlling and monitoring fluid applications (e.g., spraying, fertilization) of crops and soil within associated fields (e.g., fields 102, 105, 107, 109). The system 100 includes an agricultural analysis system 102 that includes a weather store 150 with current and historical weather data, weather predictions module 152 with weather predictions for different regions, and at least one processing system 132 for executing instructions for controlling and monitoring different operations (e.g., fluid applications). The storage medium 136 may store instructions, software, software programs, etc for execution by the processing system and for performing operations of the agricultural analysis system 102. In one example, storage medium 136 may contain a plant sensing prescription (e.g., plant sensing prescription that relates georeferenced positions in the field to locations of plants, plant data for each plant). The implement 141 (or any of the implements) may include an implement 200 having sensors, a pump, flow sensors and/or flow controllers that may be specifically the elements that are in communication with the network 180 for sending control signals or receiving as-applied data.

An image database 160 stores captured images of crops at different growth stages. A data analytics module 130 may perform analytics on agricultural data (e.g., images, weather, field, yield, etc.) to generate crop predictions 162 relating to agricultural operations.

A field information database 134 stores agricultural data (e.g., sensed data for determining plant characteristics (e.g., stalk diameter, plant dimensions), crop growth stage, soil types, soil characteristics, moisture holding capacity, etc.) for the fields that are being monitored by the system 100. An agricultural practices information database 135 stores farm practices information (e.g., as-applied planting information, as-applied spraying information, as-applied fertilization information, planting population, applied nutrients (e.g., nitrogen), yield levels, proprietary indices (e.g., ratio of seed population to a soil parameter), etc.) for the fields that are being monitored by the system 100. An implement can obtain fluid application data from the CMUs and provide this data to the system 100. A cost/price database 138 stores input cost information (e.g., cost of seed, cost of nutrients (e.g., nitrogen)) and commodity price information (e.g., revenue from crop).

The system 100 shown in FIG. 1 may include a network interface 118 for communicating with other systems or devices such as drone devices, user devices, and machines (e.g., planters, combines) via a network 180 (e.g., Internet, wide area network, WiMax, satellite, cellular, IP network, etc.). The network interface includes one or more types of transceivers for communicating via the network 180.

The processing system 132 may include one or more microprocessors, processors, a system on a chip (integrated circuit), or one or more microcontrollers. The processing system includes processing logic for executing software instructions of one or more programs. The system 100 includes the storage medium 136 for storing data and programs for execution by the processing system. The storage medium 136 can store, for example, software components such as a software application for sensing plant data or any other software application. The storage medium 136 can be any known form of a machine readable non-transitory storage medium, such as semiconductor memory (e.g., flash; SRAM; DRAM; etc.) or non-volatile memory, such as hard disks or solid-state drive.

While the storage medium (e.g., machine-accessible non-transitory medium) is shown in an exemplary embodiment to be a single medium, the term “machine-accessible non-transitory medium” should be taken to include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) that store the one or more sets of instructions. The term “machine-accessible non-transitory medium” shall also be taken to include any medium that is capable of storing, encoding or carrying a set of instructions for execution by the machine and that cause the machine to perform any one or more of the methodologies of the present disclosure. The term “machine-accessible non-transitory medium” shall accordingly be taken to include, but not be limited to, solid-state memories, optical and magnetic media, and carrier wave signals.

FIG. 2 illustrates an architecture of an implement 200 for sensing data to determine plant characteristics and delivering applications (e.g., fluid applications, fluid mixture applications) to agricultural fields in accordance with one embodiment. The implement 200 includes at least one storage tank 250, flow lines 260 and 261, a flow controller 252 (e.g., valve), and at least one variable-rate pump 254 (e.g., electric, centrifugal, piston, etc.) for pumping and controlling application rate of a fluid (e.g., fluid application, semifluid mixture) from the at least one storage tank to different application units 210-217, respectively of the implement. At least one flow sensor 270 can be utilized on the implement 200 either row-by-row or upstream of where the fluid branches out to the application units as illustrated in FIG. 2. The flow controller 252 can be row-by-row as opposed to implement-wide as shown in FIG. 2.

The applications units are mechanically coupled to the frames 220-227 which are mechanically coupled to a bar 10. Each application unit 210-217 can include flow sensors and components having a placement mechanism (e.g., planting contacting members, feelers, guidance members) for obtaining a proper orientation and/or positioning of a fluid outlet with respect to a plant in an agricultural field. The placement mechanism can include sensors (e.g., Hall effect sensors, angular displacement sensors, rotary encoder, inductive sensors) for sensing plant data. In one example, each application unit includes 2 placement mechanisms (e.g., left applicator arm, right application arm). The application units can include any of the embodiments described herein. A row of plants can be positioned between each application unit. A right applicator arm of unit 210 can contact a left applicator arm of unit 211 for calibrating the units 210 and 211 in a reference or zero position. The applicator arms for other application units are calibrated in a similar manner.

FIG. 3A illustrates a rear view of an application unit 300 (e.g., planting sensing and fluid application unit) 300 for sensing plants and applying an application to plants P-1, P-2 (e.g., corn plants, soy bean plants, etc.) in accordance with one embodiment. It should be appreciated that the unit 300 is illustrated traveling in a direction D into the page in FIG. 3A (rear view 302) and traveling upward in FIG. 3B (top view 350) along a direction D. The application unit 300 is preferably mounted to a transversely extending bar 10 (e.g., toolbar or boom) drawn by a tractor or other implement. The application unit 300 preferably extends laterally between existing corn plants P-1, P-2 as the bar 10 traverses the field having a ground surface 390.

Continuing to refer to FIG. 3A (rear view), the fluid application unit 300 preferably comprises a downwardly-extending frame 310 to which feelers 320 a, 320 b and fluid outlets 330 a, 330 b are preferably pivotally connected. The feelers or other components of the application unit 300 can include sensors for sensing plants P-1 and P-2. Data from sensors can be used from adjacent feelers to determine positions of plants and dimensions of plants (e.g., stalk diameter).

As shown in FIG. 3B (top view of application units 350 and 351), the feelers 320 preferably pivot with a range of angular motion 321 a, 321 b about an axis parallel to the frame 310, e.g., a vertical axis. In operation, when the feelers 320 a, 320 b contact passing plants (e.g., P-1, P-2), the feelers 320 a, 320 b preferably deflect rearwardly in a downward direction. Sensors 380 a, 380 b detect movement of the feelers. A spring element (not shown) or other biasing element preferably biases the feelers 320 a, 320 b into a neutral position 360 a, 360 b to which the feeler preferably returns when not deflected by a plant or other obstacle. During a calibration before an application unit enters a row of plants, feeler 320 b of unit 350 can contact a feeler 320 a of unit 351 for calibrating the units 350 and 351 in a reference or zero position. The applicator arms for other application units are calibrated in a similar manner. In one example, the feeler 320 b of unit 350 is deflected by a portion of a diameter of a stalk of plant P-2 and the feeler 320 a of unit 351 is deflected by another portion of the diameter of the stalk of plant P-2.

During operation, the feelers deflect towards the middle of the row as they pass by a plant. Each arm is being deflected by a portion of the diameter (e.g., half of the diameter) of the plant stalk. The corresponding readings (sensor data) are used to provide a stalk diameter for plants that positioned between deflected arms. A sensed angular displacement of adjacent feelers based on contact with a plant is used to a determine plant characteristics. Sensed angular displacement readings or sensed displacement positional readings for adjacent feelers in different rows can be added together to calculate a stalk diameter of a plant that contacted the feelers. The GPS location for each stalk diameter can be recorded and optionally displayed on a map. Examples of maps and techniques for mapping can be found in U.S. Pat. No. 9,322,629.

In a first example for plants with a small diameter, the feeler 320 b of unit 350 and feeler 320 a of unit 351 have small angular or positional displacement when the feelers have a reference or zero position in which the feelers contact a plant that is between the adjacent feelers.

In a second example for plants with a large diameter, the feeler 320 b of unit 350 and feeler 320 a of unit 351 have large angular or positional displacement when the feelers have a reference or zero position in which the feelers contact a plant that is between the adjacent feelers.

To measure the displacement (angular or rotational) of the feelers when contacted a plant, a position sensor can be used. Examples of sensors include a Hall effect sensor paired with a magnet, an angular displacement sensor, or a rotary encoder. Examples of these sensors can be found in U.S. Pat. No. 9,322,629, U.S. Patent Publication No. 20150289438, and International application No. WO2018018050.

A length of the feelers 320 a, 320 b may be designed based on a row spacing (e.g., 20″, 30″, etc.) with each feeler 320 a, 320 b having a length of approximately one half of the row spacing between rows of plants. In one example, the feelers 320 a, 320 b may have adjustable lengths depending on the row spacing for a field.

Each feeler 320 is preferably operatively mechanically linked to one of the fluid outlets 330 such that a change in orientation of the feeler 320 relative to the frame 310 changes an orientation of the linked fluid outlet 330.

In the embodiment of FIG. 3A (rear view), rearward angular deflection of the feeler 320 (e.g., 320 a, 320 b) results in corresponding (e.g., equal) angular deflection with a range of angular motion 331 a, 331 b of the fluid outlet 330 (e.g., 330 a, 330 b) linked to the feeler. A rigid link 325 (e.g., 325 a, 325 b) constrains the fluid outlet 330 to pivot in a synchronized fashion with the feeler 320. The fluid outlet 330 preferably pivots about an axis which is preferably parallel to the frame 310. The pivot axis of the fluid outlet 330 is preferably parallel to and preferably substantially aligned with the pivot axis of the feeler 320. As a result, a spray S (e.g., pressurized spray Sa, Sb) emitted from the fluid outlet 330 (e.g., via orifices 332 a, 332 b) preferably disposed at a distal end of the outlet) is preferably oriented toward a plant P-1, P-2 contacted by the feeler 320.

In another embodiment, the fluid application unit 300 includes a single fluid outlet and a single feeler for spraying a single row of plants. In one example, the application unit 300 includes the feeler 320 a and the fluid outlet 330 a for spraying the row of plants P-1. The feeler 320 b and fluid outlet 330 b are not included in this example. A different application unit is provided for spraying the plants P-2.

In another example, the application unit 300 includes the feeler 320 b and the fluid outlet 330 b for spraying the row of plants P-2. The feeler 320 a and fluid outlet 330 a are not included in this example. A different application unit is provided for spraying the plants P-1.

In another embodiment, the fluid application unit 300 includes at least one fluid outlet (e.g., 330 a, 330 b), feelers 320 a, 320 b and no link 325 a, 325 b. The at least fluid outlet is positioned and/or oriented to spray a fluid towards a base region of a plant (e.g., into soil within 3-4 inches of the base region of the plant, towards a region in which a base of the plant emerges from the soil).

It should be appreciated that each fluid outlet in the various embodiments described herein is preferably in fluid communication with a source (e.g., tank 250) containing an application (e.g., fluid application, crop inputs such as fertilizer, fungicide, herbicide or insecticide). Each fluid outlet described herein provides a pressurized spray (e.g., 1-200 psi, 5-100 psi, etc.) in a direction (e.g., substantially downward direction) towards a base region of a plant (e.g., into soil within 3-4 inches of the base region of the plant, towards a region in which a base of the plant emerges from the soil). In another example, at least one fluid outlet of an application unit provides a dribble of liquid (e.g., non-pressurized source) rather than a pressurized spray.

In the embodiment of an application unit 400 (e.g., fluid application unit 400) shown in FIG. 4 (rear view 402), the frame 410 supports a feeler 420 having a positional sensor 480 which preferably functions similarly to the unit 300 described above. The sensor 480 senses positional changes of the feeler 420 to determine plant characteristics if the feeler contacts a plant. The frame 410 may be coupled to a bar 10 in a similar manner as the frame 310 is coupled to the bar 10 in FIG. 3A. As described in more detail herein, rearward deflection (out of the page) of the feeler 420 preferably causes the fluid outlet 430 to deflect in a transverse vertical plane (e.g., generally up and down along the view of FIG. 4 (rear view)). In one example, when a transverse distance between frame 410 and an adjacent plant P-3 decreases, the feeler is pivoted rearward with respect to a neutral position of the feeler, preferably causing the fluid outlet 430 to pivot downward such that a spray S-3 emitted by the fluid outlet 430 (e.g., from a fluid orifice 432 preferably disposed at a distal end thereof) is directed more closely toward a bottom portion (e.g., root ball, crown, crown root, mesocotyl) of the plant. Conversely, when a transverse distance between frame 410 and an adjacent plant P-3 increases, a biasing element (not shown) causes the feeler to pivot forward with respect to a neutral position of the feeler, preferably causing the fluid outlet to pivot upward such that the spray S-3 is directed more closely toward the bottom portion of the plant or towards soil within 0-4 inches of the bottom portion of the plant.

Referring to the illustrated embodiment of FIG. 4 (rear view) in more detail, the feeler 420 preferably pivots about a central vertical axis of the frame 410, which is preferably round in cross-section. A link 411 preferably constrains a horizontal gear 415 to rotate about the central vertical axis of the frame 410. The central vertical axis is substantially perpendicular with respect to a ground surface 490. The horizontal gear 415 preferably drives a vertical gear 425 (e.g., teeth of gear 415 engage with teeth of gear 425), which preferably selectively raises or lowers the outlet 430, e.g., by winding or unwinding a support cable 429 which may be wound around a drive shaft of the vertical gear 425 at an upper end thereof and attached to the outlet 430 at a lower end thereof.

The embodiments described herein may include a pair of feelers each having an associated sensor and (e.g., linked) fluid outlet. In other embodiments, the fluid outlets may be constrained (e.g., by a linkage) to pivot at equal and opposite angles, and one of the outlets may be associated with (e.g., linked to) a single feeler.

The feelers 320, 420 described herein may contact the adjacent plants at any location. In a preferred embodiment, each feeler is preferably disposed to contact an adjacent plant on a stem or stalk thereof; for example, the feeler may be disposed adjacent the ground in order to contact the stalk at a location immediately above the soil (e.g., above the crown and below the lowest node of the plant). In some such embodiments, the fluid outlet may be disposed above the feeler instead of below the feeler as illustrated in FIG. 5 in accordance with one embodiment.

In the embodiment of an application unit 500 (e.g., fluid application unit 500) shown in FIG. 5 (rear view 502), the frame 510 supports a feeler 520 having a sensor 580 (e.g., position sensor, Hall effect sensor, angular displacement sensor, rotary encoder, inductive sensor) which preferably functions similarly to the unit 400 described above. The application unit 500 includes similar components (e.g., gears 515, 525, link 511, cable 529) in comparison to the application unit 400. The sensor 580 senses positional changes of the feeler 520 to determine plant characteristics if the feeler contacts a plant. As described in more detail herein, rearward deflection of the feeler 520 preferably causes the fluid outlet 530 to deflect in a transverse vertical plane (e.g., generally up and down along the view of FIG. 5 (rear view)). When a transverse distance between frame 510 and an adjacent plant P-4 decreases, the feeler 520 is pivoted rearward with respect to a neutral position of the feeler 520, preferably causing the fluid outlet 530 to pivot downward such that a spray S-4 emitted by the fluid outlet 530 (e.g., from a fluid orifice 532 preferably disposed at a distal end thereof) is directed more closely toward a bottom portion (e.g., root ball, crown, crown root, mesocotyl) of the plant that is in close proximity to a ground surface 590. Conversely, when a transverse distance between frame 510 and an adjacent plant P-4 increases, a biasing element (not shown) causes the feeler to pivot forward with respect to a neutral position of the feeler 520, preferably causing the fluid outlet 530 to pivot upward such that the spray S-4 is directed more closely toward the bottom portion of the plant (e.g., within 0-4 inches of the bottom portion of the plant).

In still another embodiment of a fluid application unit 600 illustrated in FIG. 6A (side view 602) and FIG. 6B (top view 604), a downwardly and preferably rearwardly extending frame 620 (e.g., a flexible, or semi-flexible frame) is fixed to the bar 10 at an upper end thereof by a bracket 610. A base member 630 supported at a lower end of the frame 620 is preferably disposed adjacent a ground surface 690 and may have a lower curved surface for riding (continuously or discontinuously) along the ground surface. Fluid outlets 640 a, 640 b are preferably supported by the base member 630 and are preferably disposed to apply a fluid to the plants P-5, P-6 (e.g., at a lower portion of each plant such as at a crown thereof). The fluid outlets 640 a, 640 b may have orifices disposed at a distal end thereof for forming a spray which is preferably directed toward the plants. Guidance members 650 a, 650 b having at least one sensor 680 a, 680 b for sensing plants preferably guide the lateral position of the base member 630; e.g., contact between the guidance members 650 a, 650 b and stems of plants P-5, P-6 may deflect the frame 620 to allow the base member 630 to remain equidistant from each row of plants P-5, P-6 adjacent to the base member 630. The guidance members 650 are preferably made of a semi-flexible or semi-rigid material such as spring steel and may include a spring coil 652 for permitting the guidance member 650 a, 650 b to deflect when encountering obstacles. The guidance members 650 may include a first portion 655 a, 656 a extending outwardly and rearwardly toward the row of plants, a second portion 655 b, 656 b extending generally parallel to the row of plants, and a third portion 655 c, 656 c extending inwardly and rearwardly away from the row of plants. In one embodiment, all base members adjust their position with respect to the rows of plants.

A width (W) of the guidance members may be designed based on a row spacing (e.g., 20″, 30″, etc.) with each guidance member having a length of slightly less than approximately one half of the row spacing between rows of plants. In one example, the guidance members may have adjustable widths depending on the row spacing for a field.

In one example, the application unit 600 includes at least one fluid outlet (e.g., 640 a, 640 b) that sprays or dribbles fluid towards a base region of the plants P-5, P-6. The base member 630 contacts a ground surface 690 in a continuous or non-continuous manner along the ground surface. A flexible frame 620 couples the base member 630 to a bar 610. In another embodiment, the application unit 600 does not include guidance members 650 a, 650 b. At least one fluid outlet 640 a, 640 b sprays the fluid towards a base region of the plants P-5, P-6.

In another embodiment of a fluid application unit 700 illustrated in FIG. 7 (rear view 702), a downwardly extending frame 710 is preferably permitted to slide up and down as indicated by arrows 722 relative to the bar 10 but retained to the bar 10 by a collar 720 extending around the frame 710 at an upper end thereof. The unit 700 is preferably functionally similarly to the unit 300 except the unit 700 includes a ground engaging element 712, a collar 720, and an internal channel 750 for directing fluid through the frame 710. A ground-engaging element 712 (e.g., a wheel or ski) is preferably mounted to a lower end of the frame 710 and disposed to contact the ground during operation such that a fluid outlet 730 retains its position relative to the ground surface in operation. One or more feelers, sensors for sensing plants, and related linkage mechanisms for reorienting the fluid outlet (as described herein according to various embodiments) may additionally be incorporated in the unit 700. The frame 710 may include a fluid inlet 740 that is in fluid communication with an internal channel 750 (e.g., formed within the frame and/or disposed within the frame) for directing fluid to the fluid outlet 730. The fluid outlet 730 may additionally include an internal channel 760 (e.g., formed as a part within fluid outlet 730 and/or disposed within the fluid outlet 730) for directing fluid to the distal end (e.g., orifice 732) of the fluid outlet 730. The channels 750 and 760 are preferably in fluid communication via a flexible conduit (not shown) such as a hose or tube. The fluid inlet 740 may be in fluid communication with a flexible conduit that is in fluid communication with a fluid source (e.g., tank).

Referring to FIG. 8A (rear view 802), an embodiment of a fluid application unit 800 is illustrated which is substantially similar to the application unit 300 described herein, except that the frame 810 is coupled to or includes one or more opening discs 811 a, 811 b (e.g., vertical coulters, angled opening discs) for opening a trench T in the soil. The frame 810 preferably includes an internal or externally mounted conduit (not shown) for applying a crop input (e.g., fluid crop input such as anhydrous or other fertilizer, nutrients, etc.) into the trench T. The frame 810 may comprise an injection assembly (e.g., sidedress liquid fertilizer injection assembly or anhydrous injection assembly) such as those illustrated in FIG. 7 of U.S. Pat. No. 5,890,445, incorporated herein by reference or in U.S. Pat. No. 8,910,581, incorporated by reference; the fluid outlets 830 a, 830 b, and feelers 820 a, 820 b having sensors 880 a, 880 b for sensing plants, as well as related linkage structure are preferably fixed to the sides of such an injection assembly for spraying a fluid on nearby plants P-6.

The fluid outlets 830 a, 830 b preferably pivot about an axis which is preferably parallel to the frame 810. The pivot axis of the fluid outlets 830 a, 830 b is preferably parallel to and preferably substantially aligned with the pivot axis of the feelers 820 a, 820 b. As a result, a spray S (e.g., Sa, Sb) emitted from the fluid outlets 830 a, 830 b (e.g., via orifices 832 a, 832 b) preferably disposed at distal ends of the outlets) is preferably oriented toward a plant P-7, P-8 contacted by the feelers 820 a, 820 b. A lower end of the frame 810 may also contain a fluid outlet 830 c for emitted a spray Sc into the trench T. It should be appreciated that each fluid outlet 830 a, 830 b in the various embodiments described herein is preferably in fluid communication with a source (e.g., tank 250) containing an application (e.g., fluid application, crop inputs such as fertilizer, fungicide, herbicide or insecticide).

The optional feelers 820 described herein may contact the adjacent plants at any location and data from sensors 880 a, 880 b can be used to determine when the feelers contact the adjacent plants. In a preferred embodiment, each feeler 820 is preferably disposed to contact an adjacent plant on a stem or stalk thereof; for example, the feeler may be disposed adjacent the ground in order to contact the stalk at a location immediately above the soil (e.g., above the crown and below the lowest node of the plant). In some such embodiments, the fluid outlet 830 may be disposed above the feeler 820 instead of below the feeler 830 as illustrated in FIG. 3 in accordance with one embodiment.

In another example, the application unit 800 does not include the optional feelers 820 a, 820 b. At least one fluid outlet (e.g., 820 a, 820 b) sprays or dribbles fluid towards a base region of the plants P-7, P-8 while the fluid outlet 830 a sprays or dribbles the fluid into the trench T. A distal end of at least one fluid outlet (e.g., 820 a, 820 b) extends closer (e.g., within 0-6 inches) to a base region of the plants when the liquid is dribbled towards the base region of the plants in comparison to when the fluid is sprayed.

Referring to FIG. 8B (rear view 852), an embodiment of a liquid application unit 850 is illustrated which is substantially similar to the application unit 300 described herein, except that the frame 810 is coupled to or includes one or more opening discs 818 (e.g., vertical coulter) for opening a trench Tc in the soil, optional trench forming members 860 and 862 (e.g., scrapers, knives) for opening shallow trenches Td and Te, respectively, in the soil, and no feelers. One or more feelers and related linkage mechanisms for reorienting the fluid outlet (as described herein according to various embodiments) may additionally be incorporated in the unit 850.

The frame 810 preferably includes an internal or externally mounted conduit (not shown) for applying a crop input (e.g., liquid crop input such as anhydrous or other fertilizer, nutrients, etc.) into the trenches. The frame 810 may comprise an injection assembly (e.g., sidedress liquid fertilizer injection assembly or anhydrous injection assembly) such as those illustrated in FIG. 7 of U.S. Pat. No. 5,890,445, incorporated herein by reference or in U.S. Pat. No. 8,910,581, incorporated by reference; the fluid outlets 830 a, 830 b, as well as related linkage structure are preferably fixed to the sides of such an injection assembly for spraying or dribbling a liquid on nearby plants.

The fluid outlets 830 a, 830 b preferably pivot about an axis which is preferably parallel to the frame 810. The fluid outlet 830 c is formed near a disc 818 and the fluid outlets 830 d, 830 e are formed near a corresponding trench forming member 860, 862. As a result, a spray S (e.g., Sa, Sb, Sd, Se) or dribble emitted from the fluid outlets preferably disposed at distal ends of the outlets) is preferably oriented toward plants P-7, P-8. A lower end of the frame 810 may also contain a fluid outlet 830 c for emitted a spray Sc into the trench T. It should be appreciated that each fluid outlet in the various embodiments described herein is preferably in fluid communication with a source (e.g., tank 250) containing an application (e.g., fluid application, crop inputs such as fertilizer, fungicide, herbicide or insecticide).

In one example, a tractor or other implement pulls multiple side dressing fertilizer coulter units (e.g., application unit 850) for forming a trench Tc having a depth (e.g., 4-8 inches, approximately 5-7 inches, etc.). The crop may be at a seedling stage when fertilizer is typically applied as a side dressing slightly offset laterally from each row of seedlings. Each application unit includes a frame (not shown), a coulter disc or wheel 818 for forming a deeper trench having a depth (e.g., 4-8 inches, approximately 5-7 inches, etc.) with a lateral position approximately equidistant between the plants P-7, P-8, a trench forming member 860 (e.g., scratching knife 860) for opening a shallow trench Td having a shallow depth (e.g., 0-4 inches, 0-2 inches, approximately 1 inch) in proximity to a row of plants P-8 (e.g., a lateral position within 5-10 inches of the plants P-8), and a trench forming member 862 (e.g., scratching knife 862) for opening a shallow trench having a shallow depth (e.g., 0-4 inches, 0-2 inches, approximately 1 inch) in proximity to a row of plants P-7 (e.g., a lateral position within 5-10 inches of the plants P-7). The frame 810 preferably includes an internal or externally mounted conduit (not shown) for applying a crop input (e.g., fluid crop input such as anhydrous or other fertilizer, nutrients, etc.) with fluid outlets into a respective trench. Each knife may be associated with a respective covering tine (e.g., rake, closing wheel) for closing the shallow trench to retain the crop input in the soil (or ground) and prevent the crop input from being volatilized.

In another example, the disc 818 and fluid outlet 830 c are not included in the application unit 850 and at least one of the members 860 and 862 is included in the application unit 850. In another example, only one of the trench forming members 860 and 862 is included in the application unit 850.

FIG. 9A illustrates a top view 902 of an application unit 900 (e.g., a fluid application unit) 900 for sensing plants and applying an application to plants P-9, P-10 (e.g., corn plants, soy bean plants, etc.) in accordance with one embodiment. It should be appreciated that the unit 900 is illustrated traveling in a direction D upwards in FIGS. 9A and 9B. The application unit 900 is preferably mounted to a transversely extending bar 10 (e.g., toolbar or boom) drawn by a tractor or other implement. The application unit 900 preferably extends laterally between existing corn plants as the bar 10 illustrated in FIG. 9C traverses the field having a ground surface 990.

In FIG. 9A (top view), the fluid application unit 900 preferably comprises a base 912 to which linkage members 920 a, 920 b are preferably pivotally connected. The linkage members 920 a, 920 b are coupled to flexible members 922 a, 922 b that may contact the rows of plants in operation. In operation, when the flexible members 922 a, 922 b contact passing plants (e.g., P-9, P-10), the flexible members 922 a, 922 b preferably cause rearwardly deflection of the linkage members 920 a, 920 b from a neutral position 960 to a rearward deflection position as illustrated in FIGS. 9A and 9B. A spring element 914, 915 or other biasing element (e.g., spring and hinge) preferably biases the linkage members 920 a, 920 b into a neutral position 960 to which the linkage members 920 a, 920 b preferably return when not deflected by a plant or other obstacle. A length of the linkage members 920 a, 920 b and flexible members 922 a, 922 b may be designed based on a row spacing (e.g., 20″, 30″, etc.) with each linkage member 920 a, 920 b having a length of approximately one half of the row spacing between rows of plants. In one example, the linkage members 920 a, 920 b may have adjustable lengths depending on the row spacing for a field. The linkage members can include sensors 980 a and 980 b for sensing deflection of the linkage members and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

FIG. 9A illustrates a top view 902 in which the linkage members 920 a, 920 b are biased in a centered position between rows of plants such that the base 912 is approximately equidistant from the plants P-9 and P-10. FIG. 9B illustrates a top view 904 in which the linkage members 920 a, 920 b are biased in a non-centered position between rows of plants such that the base 912 is laterally positioned closer to the plants P-10 than the plants P-9.

FIG. 9C illustrates a side view 940 of the application unit 900 in accordance with one embodiment. The application unit 900 is preferably mounted to a transversely extending bar 10 (e.g., toolbar or boom) drawn by a tractor or other implement. A frame 910 (e.g., rigid frame) is coupled to the bar 10 and the base 912. In one example, the base 912 is positioned a certain distance above the ground 990, the linkage members 920 a, 920 b slope downwards towards the ground, and the flexible members 922 a, 922 b are positioned in a horizontal plane slightly above the ground (e.g., 1-12 inches above the ground).

A fluid outlet 930 can be positioned with respect to the linkage member 920 a, 920 b or flexible members 922 a, 922 b for spraying a fluid in close proximity to the plants. In one example, the fluid outlet 930 is positioned at a distal end of the linkage member 920 a, 920 b and generates a spray Sa that sprays in a downward directions towards a base region of plants P-9. It should be appreciated that each fluid outlet 930 in the various embodiments described herein is preferably in fluid communication with a source (e.g., tank 250) containing an application (e.g., fluid application, crop inputs such as fertilizer, fungicide, herbicide or insecticide).

FIG. 9D illustrates a top view 952 of application units 950, 980 (e.g., a fluid application unit) for applying an application to plants P-9, P-10 (e.g., corn plants, soy bean plants, etc.) in accordance with one embodiment. The application units 950, 980 are preferably mounted to a transversely extending bar 10 (e.g., toolbar or boom) drawn by a tractor or other implement. The application units 950, 980 preferably extend laterally between existing corn plants as the bar 10 illustrated in FIG. 9C traverses the field having a ground surface 990.

In FIG. 9D (top view 952), the fluid application units 950 and 980 preferably each comprise a base 912, 972 to which linkage members 920, 984 are preferably pivotally connected. The base 912 and 972 are each coupled with a frame to a bar 10. The linkage members 920, 984 are coupled to flexible members 922 a, 982 a that may contact the rows of plants in operation. In operation, when the flexible members 922 a, 982 a contact passing plants (e.g., P-9, P-10), the flexible members 922 a, 982 a preferably cause rearwardly deflection of the linkage members 920, 984 from a neutral position 960 to a rearward deflection position as illustrated in FIG. 9D. A spring element 914, 974 or other biasing element (e.g., spring and hinge) preferably biases the linkage members 920, 984 into a neutral position 960 to which the linkage members preferably return when not deflected by a plant or other obstacle. A length of the linkage members 920, 984 and flexible members 922 a, 982 a may be designed based on a row spacing (e.g., 20″, 30″, etc.) with each linkage member 920, 984 having a length of approximately one half of the row spacing between rows of plants. In one example, the linkage members 920, 984 may have adjustable lengths depending on the row spacing for a field. Fluid outlets 930, 981 can be positioned with respect to the linkage members 920, 984 or flexible members 922 a, 982 a for spraying a fluid in close proximity to the plants. In one example, the fluid outlet is positioned at a distal end of the linkage members 920, 984 and generates a spray or dribble that applies in a downward direction towards a base region of plants P-9, P-10.

At least one of the frame 910 and base (e.g., 912, 972) illustrated in FIGS. 9A-9D may be coupled to or include one or more opening discs/coulter (e.g., 811 a, 811 b, 818, 1318, etc.) for opening a trench in the soil and also optional trench forming members (e.g., trench forming members 860, 862, 1360, 1362, scrapers, knives) for opening shallow trenches in the soil.

FIG. 10 illustrates a side view of an application unit 1000 in accordance with one embodiment. The application unit 1000 is preferably mounted to a transversely extending bar 10 (e.g., toolbar or boom) drawn by a tractor or other implement. A frame 1010 (e.g., rigid frame 1010) is coupled to the bar 10, a flexible frame 1011, and a base 1012. The base 1012 can be coupled to a sloped member 1014 (e.g., ski, ground contacting member) and a linkage member 1020 a which is coupled to a flexible member 1022 a. In one example, these components of the application unit 1000 function in a similar manner in comparison to the frame, base, linkage members, and flexible members of the application unit 900 except that the base 1012 and flexible member 1022 a (or any other flexible member) at least partially contact the ground 1090 while in operation with the application unit 1000 moving in a direction D that is substantially parallel with respect to a row of plants P-11. The sloped member 1014 can partially contact the ground or be in close proximity to the ground to provide a more uniform ground surface for the base 1012 which partially contacts the ground.

A fluid outlet 1030 can be positioned with respect to the linkage member or flexible members for spraying a fluid in close proximity to the plants. In one example, the fluid outlet is positioned at a distal end of the linkage member 1020 a and generates a spray Sa that sprays in a downward direction towards a base region of plants P-11. It should be appreciated that each fluid outlet 1030 in the various embodiments described herein is preferably in fluid communication with a source (e.g., tank 250) containing an application (e.g., fluid application, crop inputs such as fertilizer, fungicide, herbicide or insecticide). The linkage members can include sensors 1080 a and 1080 b for sensing deflection of the linkage members and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

In another embodiment, the application unit 1000 does not include flexible member 1022 a and the frame 1011 or the frame 1010 may also be optional. At least one fluid outlet (e.g., 1030) sprays the fluid towards a base region of the plants P-11.

FIG. 11 illustrates a rear view 1102 of an application unit 1100 in accordance with one embodiment. The application unit 1100 is preferably mounted to a transversely extending bar 10 (e.g., toolbar or boom) drawn by a tractor or other implement. A frame 1110 (e.g., rigid frame 1110) is coupled to the bar 10, a frame 1112 which is coupled to an optional base member 1140 having an angle 1104 with respect to the frame 1112. The base member 1140 is positioned in a plane (e.g., a substantially horizontal plane) above the ground 1190. The frame 1112 provides support for flexible members 1113-1118 and the base member 1140 may also provide support for additional flexible members (e.g., 1141-1142). The flexible members have a neutral position that is parallel to a longitudinal axis of the bar 10 if the flexible members are not in contact with plants or other objects. In operation in which the application unit 1100 moves in a direction D, the flexible members contact rows of plants and bend to provide a lateral position of the frame 1110, 1112, and base member 1140 that is approximately equidistant with respect to rows of plants. The flexible members are arranged on the frame 1112 and optional base member 1140 in a leaf like shape and pattern of flexible members. A distal region of at least a plurality of the flexible members contains fluid outlets 1171 and 1174 for spraying fluid in close proximity to the plants.

The flexible members can each include sensors 1180 a and 1180 b for sensing deflection of the flexible members and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

In one example, the fluid outlets are positioned approximately 0-10 inches from a distal end of a distal region of the flexible members and generate sprays Sa and Se that spray in a downward direction towards a base region of plants P-12, P-13. It should be appreciated that each fluid outlet in the various embodiments described herein is preferably in fluid communication with a source (e.g., tank 250) containing an application (e.g., fluid application, crop inputs such as fertilizer, fungicide, herbicide or insecticide). Each fluid outlet described herein provides a pressurized spray (e.g., 1-200 psi, 5-100 psi, etc.) in a substantially downward direction towards a base region of a plant. Alternatively, a fluid outlet may dribble liquid (non-pressurized).

FIG. 12 shows an example of a system 1200 that includes a machine 1202 (e.g., tractor, combine harvester, etc.) and an implement 1240 (e.g., planter, sidedress bar, cultivator, plough, sprayer, spreader, irrigation implement, etc.) in accordance with one embodiment. The machine 1202 includes a processing system 1220, memory 1205, machine network 1210 (e.g., a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.), and a network interface 1215 for communicating with other systems or devices including the implement 1240. The machine network 1210 includes sensors 1212 (e.g., speed sensors), controllers 1211 (e.g., GPS receiver, radar unit) for controlling and monitoring operations of the machine or implement. The network interface 1215 can include at least one of a GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other interfaces from communications with other devices and systems including the implement 1240. The network interface 1215 may be integrated with the machine network 1210 or separate from the machine network 1210 as illustrated in FIG. 12. The I/O ports 1229 (e.g., diagnostic/on board diagnostic (OBD) port) enable communication with another data processing system or device (e.g., display devices, sensors, etc.).

In one example, the machine performs operations of a tractor that is coupled to an implement for sensing plants and fluid applications of a field. The flow rate of a fluid application for each row unit of the implement can be associated with locational data at time of application to have a better understanding of the applied fluid for each row and region of a field. Data associated with the fluid applications can be displayed on at least one of the display devices 1225 and 1230.

The processing system 1220 may include one or more microprocessors, processors, a system on a chip (integrated circuit), or one or more microcontrollers. The processing system includes processing logic 1226 for executing software instructions of one or more programs and a communication unit 1228 (e.g., transmitter, transceiver) for transmitting and receiving communications from the machine via machine network 1210 or network interface 1215 or implement via implement network 1250 or network interface 1260. The communication unit 1228 may be integrated with the processing system or separate from the processing system. In one embodiment, the communication unit 1228 is in data communication with the machine network 1210 and implement network 1250 via a diagnostic/OBD port of the I/O ports 1229.

Processing logic 1226 including one or more processors may process the communications received from the communication unit 1228 including agricultural data (e.g., plant data (e.g., stalk dimensions), GPS data, fluid application data, flow rates, etc.). The system 1200 includes memory 1205 for storing data and programs for execution (software 1206) by the processing system. The memory 1205 can store, for example, software components such as plant data software for analysis of plants for performing operations of the present disclosure, or any other software application or module, images (e.g., captured images of crops), alerts, maps, etc. The memory 1205 can be any known form of a machine readable non-transitory storage medium, such as semiconductor memory (e.g., flash; SRAM; DRAM; etc.) or non-volatile memory, such as hard disks or solid-state drive. The system can also include an audio input/output subsystem (not shown) which may include a microphone and a speaker for, for example, receiving and sending voice commands or for user authentication or authorization (e.g., biometrics).

The processing system 1220 communicates bi-directionally with memory 1205, machine network 1210, network interface 1215, header 1280, display device 1230, display device 1225, and I/O ports 1229 via communication links 1231-1236, respectively.

Display devices 1225 and 1230 can provide visual user interfaces for a user or operator. The display devices may include display controllers. In one embodiment, the display device 1225 is a portable tablet device or computing device with a touchscreen that displays data (e.g., plant data, fluid application data, captured images, localized view map layer, high definition field maps of as-applied fluid application data, as-planted or as-harvested data or other agricultural variables or parameters, yield maps, alerts, etc.) and data generated by an agricultural data analysis software application and receives input from the user or operator for an exploded view of a region of a field, monitoring and controlling field operations. The operations may include configuration of the machine or implement, reporting of data, control of the machine or implement including sensors and controllers, and storage of the data generated. The display device 1230 may be a display (e.g., display provided by an original equipment manufacturer (OEM)) that displays images and data for a localized view map layer, plant data, as-applied fluid application data, as-planted or as-harvested data, yield data, controlling a machine (e.g., planter, tractor, combine, sprayer, etc.), steering the machine, and monitoring the machine or an implement (e.g., planter, combine, sprayer, etc.) that is connected to the machine with sensors and controllers located on the machine or implement.

A cab control module 1270 may include an additional control module for enabling or disabling certain components or devices of the machine or implement. For example, if the user or operator is not able to control the machine or implement using one or more of the display devices, then the cab control module may include switches to shut down or turn off components or devices of the machine or implement.

The implement 1240 (e.g., planter, cultivator, plough, sprayer, spreader, irrigation implement, etc.) includes an implement network 1250, a processing system 1262, a network interface 1260, and optional input/output ports 1266 for communicating with other systems or devices including the machine 1202. The implement network 1250 (e.g, a controller area network (CAN) serial bus protocol network, an ISOBUS network, etc.) includes a pump 1256 for pumping fluid from a storage tank(s) 1290 to application units 1280, 1281, . . . N of the implement, sensors 1252 (e.g., plant sensors for detecting plants, positional sensors for detecting positional data of applicator arms, linkage members, or flexible members to determine plant data, speed sensors, seed sensors for detecting passage of seed, downforce sensors, actuator valves, moisture sensors or flow sensors for a combine, speed sensors for the machine, seed force sensors for a planter, fluid application sensors for a sprayer, or vacuum, lift, lower sensors for an implement, flow sensors, etc.), controllers 1254 (e.g., GPS receiver), and the processing system 1262 having processing logic 1264 for controlling and monitoring operations of the implement. The pump controls and monitors the application of the fluid to crops or soil as applied by the implement. The fluid application can be applied at any stage of crop development including within a planting trench upon planting of seeds, adjacent to a planting trench in a separate trench, or in a region that is nearby to the planting region (e.g., between rows of corn or soybeans) having seeds or crop growth. The plant data can be obtaining at any stage of crop development upon emergence of plants.

For example, the controllers may include processors in communication with a plurality of plant or positional sensors (e.g., Hall effect sensors, angular position sensors, rotary encoders, inductive sensors). The processors are configured to process data (e.g., plant data, fluid application data, seed sensor data) and transmit processed data to the processing system 1262 or 1220. The controllers and sensors may be used for monitoring motors and drives on a planter including a variable rate drive system for changing plant populations. The controllers and sensors may also provide swath control to shut off individual rows or sections of the planter. The sensors and controllers may sense changes in an electric motor that controls each row of a planter individually. These sensors and controllers may sense seed delivery speeds in a seed tube for each row of a planter.

The network interface 1260 can be a GPS transceiver, a WLAN transceiver (e.g., WiFi), an infrared transceiver, a Bluetooth transceiver, Ethernet, or other interfaces from communications with other devices and systems including the machine 1202. The network interface 1260 may be integrated with the implement network 1250 or separate from the implement network 1250 as illustrated in FIG. 12.

The processing system 1262 communicates bi-directionally with the implement network 1250, network interface 1260, and I/O ports 1266 via communication links 1241-1243, respectively.

The implement communicates with the machine via wired and possibly also wireless bi-directional communications 1204. The implement network 1250 may communicate directly with the machine network 1210 or via the networks interfaces 1215 and 1260. The implement may also by physically coupled to the machine for agricultural operations (e.g., planting, harvesting, spraying, etc.).

The memory 1205 may be a machine-accessible non-transitory medium on which is stored one or more sets of instructions (e.g., software 1206) embodying any one or more of the methodologies or functions described herein. The software 1206 may also reside, completely or at least partially, within the memory 1205 and/or within the processing system 1220 during execution thereof by the system 1200, the memory and the processing system also constituting machine-accessible storage media. The software 1206 may further be transmitted or received over a network via the network interface 1215.

In one embodiment, a machine-accessible non-transitory medium (e.g., memory 1205) contains executable computer program instructions which when executed by a data processing system cause the system to performs operations or methods of the present disclosure. While the machine-accessible non-transitory medium (e.g., memory 1205) is shown in an exemplary embodiment to be a single medium, the term “machine-accessible non-transitory medium” should be taken to include a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) that store the one or more sets of instructions. The term “machine-accessible non-transitory medium” shall also be taken to include any medium that is capable of storing, encoding or carrying a set of instructions for execution by the machine and that cause the machine to perform any one or more of the methodologies of the present disclosure. The term “machine-accessible non-transitory medium” shall accordingly be taken to include, but not be limited to, solid-state memories, optical and magnetic media, and carrier wave signals.

Referring to FIG. 13A (side view), an embodiment of a fluid application unit 1300 is illustrated in accordance with one embodiment. A tractor or other implement pulls multiple side dressing fertilizer coulter units (e.g., application unit 1300). The crop may be at a seedling stage when fertilizer is typically applied as a side dressing slightly offset laterally from each row of seedlings. Each application unit includes a frame 1310, a member 1316 for supporting a coulter wheel 1318 (e.g., single disc, double disc), a member 1314 for supporting a shallow trench forming member 1342 (e.g., scratching knife 1342) for opening a shallow trench in the soil having a shallow depth (e.g., 0-4 inches, 0-2 inches, approximately 1 inch). The frame 1310 preferably includes an internal or externally mounted conduit (not shown) for applying a crop input (e.g., fluid crop input such as anhydrous or other fertilizer, nutrients, etc.) with a fluid outlet 1340 into the shallow trench. A covering tine 1330 (e.g., rake, closing wheel) closes the shallow trench to retain the crop input in the soil (or ground 1390). A spring pivot 1312 allows the member 1314 and fluid outlet 1340 to pivot with a range of motion 1315 with respect to the member 1316.

The frame 1310 may comprise an injection assembly (e.g., sidedress liquid fertilizer injection assembly or anhydrous injection assembly) such as those illustrated in FIG. 7 of U.S. Pat. No. 5,890,445, incorporated herein by reference or in U.S. Pat. No. 8,910,581, incorporated by reference. The frame 1310 and application unit 1300 can be used in combination with any other embodiments of the present disclosure. In one example, the feelers 820 a, 820 b, sensors 880 a, 880 b, and fluid outlets 830 a, 830 b of FIG. 8 are used in combination with the frame 1310 and application unit 1300.

FIG. 13B (top view) illustrates an embodiment of a liquid application unit 1350 having multiple trench forming members (e.g., knives) and fluid outlets in accordance with one embodiment. A tractor or other implement pulls multiple side dressing fertilizer coulter units (e.g., application unit 1350) for forming a trench having a depth (e.g., 4-8 inches, approximately 5-7 inches, etc.). The crop may be at a seedling stage when fertilizer is typically applied as a side dressing slightly offset laterally from each row of seedlings. Each application unit includes a frame (not shown), a coulter wheel 1318 for forming a deeper trench having a depth (e.g., 4-8 inches, approximately 5-7 inches, etc.), a trench forming member 1360 (e.g., scratching knife 1360) for opening a shallow trench having a shallow depth (e.g., 0-4 inches, 0-2 inches, approximately 1 inch) in proximity to a row of plants P-14, and a trench forming member 1362 (e.g., scratching knife 1362) for opening a shallow trench having a shallow depth (e.g., 0-4 inches, 0-2 inches, approximately 1 inch) in proximity to a row of plants P-15. The frame preferably includes an internal or externally mounted conduit (not shown) for applying a crop input (e.g., fluid crop input such as anhydrous or other fertilizer, nutrients, etc.) with fluid outlets 1371-1372 into a respective trench. Each knife may be associated with a respective covering tine 1331-1332 (e.g., rake, closing wheel) for closing the shallow trench to retain the crop input in the soil (or ground) and prevent the crop input from being volatilized.

In another example, the knife 1342, fluid outlet 1340, and member 1314 may optionally be included with the application unit 1350, coupled to the member 1316, and have a lateral position that is approximately equidistant with respect to the rows of plants P-14, P-15. The knife 1360 has a lateral position that is approximately within 5-10 inches of the plants P-14 while the knife 1362 has a lateral position that is approximately within 5-10 inches of the plants P-15. In this manner, crop input can be supplied at any desired location at any desired depth within approximately 5 inches of a row of plants. Any desired percentage of crop input can be applied to each fluid outlet 1340, 1371-1372 for optimal plant growth. In one example, a first percentage of a crop input is applied to the fluid outlet 1340 and a second percentage of a crop input is applied to the fluid outlets 1371 and 1372.

Where reference is made to a fluid/liquid as to any of the various embodiments disclosed herein, it should be appreciated that any fluid may be similarly transferred and applied by such embodiments; e.g., in a liquid, gaseous, dense phase or transitional phase.

For each of the fluid application unit embodiments described herein, multiple units are preferably disposed along the length of the bar, e.g., such that one, two or more rows of plants are disposed between each unit.

FIG. 14 illustrates an adjustable bracket 1400 for coupling any of the frames described herein to a bar 10 in accordance with one embodiment. The bracket 1400 is preferably adjustable such that the frame (e.g., frames 310, 410, 510, 610, 710, 810, 910) of any of the embodiments disclosed herein may be mounted to any bar (e.g., bar 10) having variable size and cross-sectional shape. In the illustrated embodiment, a rotating member 1432 (e.g., dial 1432) may be manipulated or rotated by the installer to adjust a position of a retaining member 1434 in order to retain the bracket 1400 on bars 10 having various widths. In the illustrated embodiment the bracket 1400 includes two separable portions 1440, 1450 which may be separated for installation and then secured to one another such as by bolts (not shown). The frame 1410 may be fixed to the bracket 1400 by U-bolts 1412 a, 1412 b and/or by any quick coupling structure known in the art.

FIG. 15A illustrates an isometric view of an application unit 1500 in accordance with one embodiment. The application unit 1500 is preferably mounted to a transversely extending bar 10 (e.g., toolbar or boom) drawn by a tractor or other implement. A frame 1510 (e.g., rigid frame 1510) is coupled to the bar 10, a frame 1511 (flexible frame, rigid frame), and a base 1512. It should be appreciated that frame 1510 and 1511 could be a unitary part. The base 1512 includes a biasing element 1513 (e.g., spring) to bias or position linkage members 1520 a, 1520 b outwards towards rows of plants P-16, P-17. The base 1512 also includes pins 1514 a, 1514 b positioned in holes to set a width for biasing of the linkage members for different crop row spacing. The base 1512 includes additional holes 1515 a, 1515 b and 1516 a, 1516 b to reduce a width of the linkage members 1520 a, 1520 b to adjust for different crop row spacing or for different types of crops. For a turn of a tractor and an implement having a plurality of application units 1500, the biasing element and pins cause the flexible members to flex inwards. Optionally, a rotating swivel 1570 or 1571 can be disposed between bar 10 and frame 1510 and/or between frame 1511 and base 1512. The degree of rotation can be any desired degree, but actual rotation will be limited by the movement in the rows. Having a rotating swivel 1570 or 1571 provides more flexibility during use to keep application unit 1500 in the row without providing too much force on the plants.

The biasing element 1513 biases angular positions of the first and second linkage members 1520 a and 1520 b such that distal ends 1521 a, 1521 b of the linkage members have a spacing 1525 that is similar to a row spacing of the rows of plants P-16, P-17. The linkage members can each include sensors 1588 a and 1588 b for sensing deflection of the linkage members and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

In another embodiment, biasing element 1513 can be replaced with a pressure actuated biased return pistons 1540 a and 1540 b shown in an isometric view of an application unit 1532 in FIG. 15B. Pressure actuated biased return pistons 1540 a and 1540 b are oppositely disposed and coupled with a coupler 1541, which has a fluid inlet 1542 for supplying pressure to pressure actuated biased return pistons 1540 a and 1540 b through the coupler 1541. The pistons in the pressure actuated biased return pistons 1540 a and 1540 b are in communication with pivots 1543 a and 1543 b, respectively, disposed on base 1512 at the edges of base 1512. Pivots 1543 a and 1543 b are disposed on base 1512 via pins 1544 a and 1544 b, respectively. Linkage members 1520 a and 1520 b are disposed on pivots 1543 a and 1543 b, respectively. Linkages 1520 a and 1520 b have fluid inlets 1520-la and 1520-1 b, respectively, and are in fluid communication with the fluid system. Pressure actuated biased return pistons 1540 a and 1540 b connect to pivots 1543 a and 1543 b between pins 1544 a and 1544 b and base edge 1512 a. As shown in FIG. 15B, pressure actuated biased return pistons 1540 a and 1540 b are directly connected to pivots 1543 a and 1543 b, respectively, but they could also be connected through optional pivot connections 1545 a and 1545 b, respectively, similar to connectors 1705 a and 1705 b in FIG. 17A.

The linkages 1520 a and 1520 b can each include sensors and for sensing deflection of the linkage members or flexible members and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

Similar to as shown in FIG. 15B for the pressure actuated biased return pistons that are similar to the pressure actuated biased return pistons in FIG. 17A, any of the embodiments in FIGS. 17D to 19C can also be disposed on base 1512.

The fluid to drive the pistons can be from the fluid, or it can be from a pneumatic or hydraulic system on the toolbar (not shown). With the fluid system, when fluid is applied, the pressure in the fluid system will cause the pressure actuated biased return pistons 1540 a and 1540 b to bias outwards to the edge of base 1512. When the fluid application is turned off, the biased return in the pressure actuated biased return pistons 1540 a and 1540 b will bias the piston toward the middle of base 1512. For the pneumatic or hydraulic system, these can be activated manually or automatically when the fluid system is turned on.

The benefit of having the dual direction biasing is that the linkage members 1520 a and 1520 b will bias outwards towards the plants during fluid application, and will bias toward the middle of the row when the fluid system is not on. By having the linkage members 1520 a and 1520 b bias toward the middle of the row, application unit (e.g., 1500, 1532, etc.) can be reversed down the row. This can be helpful when steering causes misalignment in a row, and the application unit (e.g., 1500, 1532) needs to back up to correct the steering. If linkage members 1520 a and 1520 b are always biased towards the plants, they would catch and fold over the plants if run in a reversed direction.

The linkage members 1520 a, 1520 b are coupled to flexible members 1522 a, 1522 b respectively. In one example, the linkage members position the flexible members 1522 a, 1522 b in close proximity to a target region of the plants. The flexible members 1522 a, 1522 b can be any type of flexible material (e.g., hoses) or can be replaced with pipes. It should be appreciated that linkage members 1520 a, 1520 b and flexible members 1522 a, 1522 b, respectively, can be made as unitary parts. In one example, these components of the application unit 1500 function in a similar manner in comparison to the frame, base, linkage members, and flexible members of the application unit 1000 with the ground contacting members 1524 a, 1524 b (e.g., ski, skid, wear element, etc.) at least partially contacting the ground while in operation with the application unit 1500 moving in a direction D that is substantially parallel with respect to rows of plants P-16 and P-17. The ground contacting members 1524 a, 1524 b substantially prevent the flexible members 1522 a, 1522 b from contacting the ground and thus reduce wear on the flexible members 1522 a, 1522 b. The ground contacting members 1524 a, 1524 b also position the flexible members 1522 a, 1522 b to be slightly elevated (e.g., 0 to 3 inches) above the ground.

Fluid outlets 1530 a, 1530 b (e.g., spray nozzle, drip mechanism) are positioned with respect to a distal portion 1528 a, 1528 b of flexible members 1522 a, 1522 b for spraying a fluid in close proximity to the plants. In one example, the fluid outlets are positioned at a distal end of the distal portions of the flexible members and generate a spray Sa, Sb that sprays in a downward direction towards a base region of plants P-16, P-17, respectively. It should be appreciated that each fluid outlet in the various embodiments described herein is preferably in fluid communication with a source (e.g., tank 250) containing an application (e.g., fluid application, crop inputs such as fertilizer, fungicide, herbicide or insecticide).

In another embodiment, the application unit 1500 optionally includes a housing member 1580 for positioning a plurality of fluid outlets (e.g., 1581-1585) at a plurality of different angles (e.g., angled down towards ground, angle outwards from the housing member 1580) having a maximum range of approximately 180 degrees. Additional or fewer fluid outlets can be positioned with the housing member 1580. Each fluid outlet can have a fixed position or an adjustable angular position for spraying a fluid towards a base region of the plants or towards a certain target region between the rows of plants P-16, P-17. The fluid sprayed by the fluid outlets 1581-1585 can be the same fluid that is spraying by the fluid outlets 1530 a, 1530 b or this fluid can be different. In one example, the fluid outlets 1581-1585 spray a fungicide.

The frame (e.g., 1510, 1511), base, linkage members, and flexible members preferably include an internal or externally mounted conduit (not shown) for applying a crop input (e.g., fluid crop input such as anhydrous or other fertilizer, nutrients, etc.) towards a target region of the plants or into trenches. The frame may comprise an injection assembly (e.g., sidedress liquid fertilizer injection assembly or anhydrous injection assembly) such as those illustrated in FIG. 7 of U.S. Pat. No. 5,890,445, incorporated herein by reference or in U.S. Pat. No. 8,910,581, incorporated by reference; the fluid outlets, as well as related linkage structure are preferably fixed to the sides of such an injection assembly for spraying or dribbling a liquid on nearby plants or towards a target region of the plants.

FIG. 16 illustrates an isometric view of an application unit 1600 positioned in proximity to rows of plants in accordance with one embodiment. The application unit 1600 includes similar components and functionality in comparison to the application unit 1500 of FIG. 15. The application unit 1600 is preferably mounted to a transversely extending bar 10 (not shown in FIG. 16) drawn by a tractor or other implement. A frame 1610 (e.g., 1510, 1511) is coupled to the bar 10, and a base 1612. The base 1612 includes a biasing element 1613 (e.g., spring) to bias or position linkage members 1620 a, 1620 b outwards towards rows of plants P-18, P-19. The linkage members 1620 a, 1620 b are coupled to flexible members 1622 a, 1622 b respectively. The flexible members can be any type of flexible material (e.g., hoses) or can be replaced with pipes. In one example, the ground contacting members 1624 a, 1624 b (e.g., ski, skid, wear element, etc.) at least partially contact the ground 1690 while in operation with the application unit 1600 moving in a direction D that is substantially parallel with respect to rows of plants P-18 and P-19. The ground contacting members 1624 a, 1624 b substantially prevent the flexible members 1622 a, 1622 b from contacting the ground and thus reduce wear on the flexible members 1622 a, 1622 b. The ground contacting members 1624 a, 1624 b also position the flexible members 1622 a, 1622 b to be slightly elevated (e.g., 0 to 3 inches) above the ground.

The linkage members can each include sensors 1680 a and 1680 b for sensing deflection of the linkage members by plants and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

Fluid outlets 1630 a, 1630 b (e.g., spray nozzle, drip mechanism) are positioned with respect to a distal end of flexible members for spraying a fluid in close proximity to the plants. In one example, the fluid outlets generate spray Sa, Sb that sprays in a downward direction towards a base region of plants P-18, P-19, respectively. It should be appreciated that each fluid outlet in the various embodiments described herein is preferably in fluid communication with a source (e.g., tank 250) containing an application (e.g., fluid application, crop inputs such as fertilizer, fungicide, herbicide or insecticide).

FIG. 17A illustrates an isometric view of an application unit 1700 for mounting to a coulter fertilizer disc 1790. Coulter fertilizer disc 1790 has a toolbar arm 1799 for connection to bar 10. Attached to toolbar arm 1799 is a bracket 1793 for connecting coulter mounting arm 1792. At the opposing end, disc 1791 is mounted to coulter mounting arm 1792 along with blade mounting arm 1794 disposed rearward of the direction of travel of coulter fertilizer disc 1790. Connected to blade mounting arm 1794 is a blade 1795 (or a sprayer not shown) with fluid line 1796. Application unit 1700 has a bracket 1701 (generally shown with a U shape) that connects to where blade 1795 (or sprayer) connects to blade mounting arm 1794 with a closed end of the bracket 1702 forward of disc 1791. Application unit 1700 is used in conjunction with the embodiments of FIGS. 17B to 19C below, which show application unit 1700 in partial.

Disposed near closed end of the bracket 1702 are pivots 1703 a and 1703 b that are disposed on bracket 1701 through pins 1704 a and 1704 b, respectively as illustrated in isometric view 1750 of FIG. 17B and side view 1752 of FIG. 17C in accordance with one embodiment. Actuating the pivots 1703 a and 1703 b are pressure actuated biased return pistons 1710 a and 1710 b, respectively. Pressure actuated biased return pistons 1710 a and 1710 b can directly connect to pivots 1703 a and 1703 b as shown in FIG. 15B for pressure actuated biased return pistons 1540 a and 1540 b to pivots 1543 a and 1543 b. Alternatively, pressure actuated biased return pistons 1710 a and 1710 b can connect through piston arms 1708 a and 1708 b, respectively, and connectors 1705 a and 1705 b, respectively, to pivots 1703 a and 1703 b, respectively. In either embodiment, the connection on the side of the pins 1704 a and 1704 b is away from closed end of the bracket 1702. Disposed between pressure actuated biased return pistons 1710 a and 1710 b is a coupler 1711 having a fluid inlet 1712. Connected to pivots 1703 a and 1703 b are linkages 1720 a and 1720 b, respectively. Linkages 1520 a and 1520 b (e.g., arms) have fluid inlets 1721 a and 1721 b, respectively, and are in fluid communication with the fluid system.

The linkages 1520 a and 1520 b as illustrated in FIG. 17B can each include sensors 1780 a and 1780 b for sensing deflection of the linkages by plants and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

The fluid to drive the pistons is described above for application unit 1500.

FIG. 17D illustrates an isometric view of an application unit 1780 in accordance with another embodiment. This application unit 1780 includes similar components in comparison to the components of application unit 1750 of FIG. 17B, except that linkage members 1520 a′ and 1520 b′ include distal portions that curve inwards towards each other. These linkage members may also include sensors for sensing plants. Any of the other embodiments discussed herein may also have linkage members 1520 a and 1520 b having a similar inwards curvature.

In other alternatives shown in FIGS. 18A and 18B, the fluid actuation with the pressure actuated biased return pistons 1710 a and 1710 b are replaced by solenoids 1810 a and 1810 b, which are disposed on bracket 1702 via brackets 1811 a and 1811 b, respectively, as illustrated in application unit 1800 of FIG. 18A. Solenoids 1810 a and 1810 b are activated by an electrical switch (not shown). In place of solenoids 1810 a and 1810 b can be electric motors 1820 a and 1820 b, respectively, as illustrated in application unit 1850 of FIG. 18B.

The linkages 1520 a and 1520 b as illustrated in FIG. 18A can each include sensors 1880 a and 1880 b for sensing deflection of the linkages by plants and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

In other alternatives shown in linkage systems 1990-1992 of FIGS. 19A to 19C, respectively, the fluid actuation with the pressure actuated biased return pistons 1710 a and 1710 b are replaced by linkage system 1990, which is disposed on bracket 1702 via bracket 1960. Linkage system 1990 has an actuator 1951 in communication with gear box 1950 for acting on linkage arms 1952 a and 1952 b. Linkage arms 1952 a and 1952 b are connected to connectors 1705 a and 1705 b, respectively, or directly to pivots 1703 a and 1703 b, respectively (not shown). Actuator 1951 can be actuated by solenoid 1910 in FIG. 19A or electrical motor 1920 of linkage system 1991 in FIG. 19B, which are disposed on bracket 1702 via bracket 1911. Solenoid 1910 and electrical motor are activated by an electrical switch (not shown). Alternatively, actuator 1951 can be actuated by ground contacting arm 1940 of linkage system 1992 as illustrated in FIG. 19C. When ground contacting arm 1940 contacts the ground, ground contacting arm causes pivot 1941 to pivot and actuate actuator 1951.

The linkages 1520 a and 1520 b can each include sensors 1980 a and 1980 b for sensing deflection of the linkages by plants and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

The linkage members (arms) discussed herein can be actuated with solenoids, electrical motors, or via a linkage using at least one solenoid, motor, or ground contact. The electrical switch in the above embodiments can be a separate switch activated by an operator when coulter fertilizer disc 1790 is lowered to the ground, or the electrical switch can activated when the coulter fertilizer disc 1790 is commanded to be lowered. Alternatively, the electrical switch can be activated by ground contact.

FIGS. 20A and 20B illustrate a nozzle 3000 that can be disposed at the end of the fluid lines described herein (such as flexible member 922, flexible member 982, flexible member 1022, flexible member 1522, linkage member 1520, or fluid outlets 1530). Fluid line 3010 is connected to a nozzle housing 3021. Nozzle housing 3021 has a nozzle 3022 disposed opposite to the fluid line 3010. Nozzle housing 3021 and nozzle 3022 can be a unitary part or separate parts. Nozzle 3022 has an outlet 3023 disposed in nozzle 3022 for dispensing fluid. As shown, outlet 3023 is disposed downward towards the ground. Also, outlet 3023 can be disposed on the side facing towards plants (not shown). Outlet 3023 can optionally have an aerator 3025 disposed in itself to regulate the flow fluid. Nozzle housing 3021 further includes a ski 3030 (such as a spring wire) disposed through nozzle housing 3021 and extending backward away from nozzle housing 3021 for engaging the ground to keep the nozzle outlet 3023 from contacting the ground to improve fluid flow.

FIG. 21 illustrates a flexible member 3050 that includes a reinforcement 3051 disposed on or in flexible member 3050. This embodiment can be used with any flexible member described herein (such as flexible member 922, flexible member 982, flexible member 1022, or flexible member 1522). An unreinforced flexible member, such as a hose, can flop around while being drawn through a field. This can cause fluid to not be dispensed in the selected area. Reinforcement 3051 can add stiffness to flexible member 3050 and to keep flexible member 3050 biased against plants. In one embodiment, reinforcement 3051 is a wire.

FIG. 22 illustrates an application unit 3200 as an alternative embodiment for application unit 1500 illustrated in FIG. 15A. Base 1512 is replaced with base 3212, and linkage members 1520 a, 1520 b are replaced by linkage members 3220 a, 3220 b, respectively. Linkage members 3220 a, 3220 b are pivotally connected to base 3212 through pivots 3201 a, 3201 b, respectively. Linkage members 3220 a, 3220 b have a portion 3221 a, 3221 b that extend forward of base 3212 in a direction of travel. Base 3212 has walls 3202 a, 3202 b extending forward of base 3212 in a direction of travel. Biasing members 3203 a, 3203 b (such as a spring) are disposed between walls 3202 a, 3202 b and portions 3221 a, 3221 b, respectively, to bias portions 3221 a, 3221 b away from walls 3202 a, 3202 b so that flexible members 3222 a, 3222 b are biased towards the plants.

The linkage members 3220 a and 3220 b can each include sensors 2280 a and 2280 b for sensing deflection of the linkage members and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

FIG. 23 illustrates an embodiment in which a flexible member 3322 (such as flexible member 922, flexible member 982, flexible member 1022, or flexible member 1522) has a spring 3303 a, 3303 b disposed over flexible member 3322 (e.g., 3322 a, 3322 b) proximate to the end opposite of the discharge of flexible member 3322. Spring 3303 can be the only biasing in the application unit 2300, or spring 3303 can be used with any other biasing described herein. Components of the nozzle 3000 of FIG. 20A are coupled to the flexible member 3322 a and 3322 b. The nozzle 3000 (e.g., 3000 a, 3000 b) includes fluid line 3010 (e.g., 3010 a, 3010 b) that is connected to a nozzle housing 3021 (e.g., 3021 a, 3021 b). Nozzle housing 3021 has a nozzle 3022 (e.g., 3022 a, 3022 b) disposed opposite to the fluid line 3010. Nozzle housing 3021 and nozzle 3022 can be a unitary part or separate parts. Nozzle 3022 has an outlet 3023 (e.g., 3023 a, 3023 b) disposed in nozzle 3022 for dispensing fluid. As shown, outlet 3023 is disposed downward towards the ground. Also, outlet 3023 can be disposed on the side facing towards plants. Outlet 3023 can optionally have an aerator 3025 disposed in itself to regulate the flow fluid (not shown).

The linkage members 1520 a and 1520 b can each include sensors 2380 a and 2380 b for sensing deflection of the linkage members and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

FIGS. 24A-24E, 25, 26, and 27 illustrate embodiments for an application unit 2700 with different types of sensors for sensing plants. Application unit 2700 is connected to a vertical support 2799, which is connected to a transversely extending bar 10 (e.g., toolbar or boom) drawn by a tractor or other implement. Vertical support 2799 can have a length such that application unit 2700 is disposed at the bottom of vertical support 2799 proximate to the ground. An optional coulter assembly 2780 can also be connected to vertical support 2799 posterior to application unit 2700 in a direction of travel. In one embodiment that does not include coulter assembly 2780, vertical support 2799 can have a length so that application unit 2700 is proximate to the ground. Or vertical support 2799 can have a length that extends to where coulter assembly 2780 attaches, and application unit 2700 attaches to vertical support proximate to where coulter assembly attaches. Even when coulter assembly 2780 is not included, there is an advantage to having application unit 2700 disposed above the ground and not proximate to the ground to avoid having application unit 2700 from impacting the ground as contoured terrain is encountered.

Application unit 2700 includes a bracket 2701 for connecting to vertical support 2799. Connected to bracket 2701 is a pivot 2705 having a vertical axis to permit application unit 2700 to pivot in a horizontal plane. This allows application unit 2700 to freely pivot to provide self-alignment between adjacent rows of plants in the event that application unit 2700 is not centered between the rows during operation. Optionally, a deflector 2710 is disposed on the front of application unit 2700 in the direction of travel. Deflector 2710 is connected via a deflector bracket 2711 to bracket 2701. In one embodiment, deflector bracket 2711 has arms 2712 a, 2712 b, which can be a unitary part or separate parts.

The description below is for both sides of application unit 2700. For clarity, one side of application unit is illustrated in the drawings. It is understood, that the same parts are also disposed on the other side of application unit 2700.

Disposed below pivot 2705 is bracket base 2702. Pivotally connected to bracket base 2702 is bracket assembly 2740 (2740 a, 2740 b) through pivot 2747 (2747 a, 2747 b) on a horizontal axis to permit vertical rotation of bracket assembly 2740 (2740 a, 2740 b). Pivotally connected to bracket assembly 2740 (2740 a, 2740 b) is bracket assembly 2730 (2730 a, 2730 b) through pivot 2737 (2737 a, 3737 b) to permit rotation transverse to the direction of travel.

FIG. 24D illustrates an embodiment of an application unit having angular displacement sensors for sensing plant characteristics in accordance with one embodiment. angular displacement sensors (e.g., rotary encoders). Angular displacement sensors 2790 a and 2790 b (e.g., rotary encoders) having been integrated with pivot 2737 a and 2737 b, respectively for sensing deflection or positional change of the fluid arms.

The sensors 2790 a and 2790 b are preferably used to generate signals related to the angular position of the fluid arms 2720 a and 2720 b, respectively. In the illustrated embodiment, the fluid arms 2720 a and 2720 b are pivotally mounted to a bracket via the sensors 2790 a and 2790 b or rotary encoders (e.g., an angular displacement sensor no. 55250 available from Hamlin Incorporated, Lake Mills, Wis.). A signal generated by each encoder is thus related to an angular position of each fluid arm 2720 a and 2720 b primarily in a horizontal plane. An angular position of each fluid arm 2720 a and 2720 b will change based on contact with the stalks of plants. An angle of deflection or positional change of the arms 2720 a and 2720 b can be used to calculate the stalk diameter of a plant between adjacent arms 2720 a and 2720 b.

Bracket assembly 2730 (2730 a, 2730 b) has a bracket base 2731 (2731 a, 2731 b). Connected to bracket base 2731 (2731 a, 2731 b) is a fluid arm 2720 (2720 a, 2720 b). Connected to fluid arm 2720 (2720 a, 2720 b) is a fluid line 2722 (2722 a, 2722 b), which is fluid communication with a fluid source (e.g., tank 250). Bracket base 2731 (2731 a, 2731 b) is biased outward by bias element 2735 (2735 a, 2735 b). Bias element 2735 (2735 a, 2735 b), such as a spring, is disposed over element 2734 (2734 a, 2734 b), which is connected to a bracket 2732 (2732 a, 2732 b), which is connected to bracket base 2741 (2741 a, 2741 b). Element 2734 (2734 a, 2734 b) is disposed through a bracket 2733 (2733 a, 2733 b). Bias element 2735 (2735 a, 2735 b) is disposed over element 2734 (2734 a, 2734 b) between a stop 2736 (2736 a, 2736 b) and a side of bracket 2733 (2733 a, 2733 b) away from bracket 2732 (2732 a, 2732 b).

Bracket assembly 2740 (2740 a, 2740 b) includes a bracket base 2741 (2741 a, 2741 b). Bias element 2745 (2745 a, 2745 b), such as a spring, is disposed over element 2744 (2734 a, 2744 b), which is connected to a bracket 2742 (2742 a, 2742 b), which is connected to bracket base 2741 (2741 a, 2741 b). Element 2744 (2744 a, 2744 b) is disposed through a bracket 2709, which is connected to bracket base 2702. Bias element 2745 (2745 a, 2745 b) is disposed over element 2744 (2744 a, 2744 b) between a stop 2746 (2746 a, 2746 b) and a side of bracket 2709 away from bracket 2742 (2742 a, 2742 b). Optionally, as illustrated in FIG. 26, bias element 2748 (2748 a, 2748 b) is disposed over element 2744 (2744 a, 2744 b) on a side of bracket 2709 opposite to biasing element 2745 (2745 a, 2745 b). Balancing the amount of bias between bias element 2745 (2745 a, 2745 b) and bias element 2748 (2748 a, 2748 b) can determine the amount of down rotation.

As illustrated, application unit 2700 has two degrees for biasing fluid arms 2720 a, 2720 b outward and down. In another embodiment, such as when application unit 2700 is disposed proximate to the ground, down biasing is not needed. In this embodiment, bracket assembly 2730 (2730 a, 2730 b) is pivotally connected to bracket base 2702, bracket 2732 (2732 a, 2732 b) is connected to bracket base 2702, and bracket assembly 2740 (2740 a, 2740 b) and member 2709 are not included (not shown).

FIG. 24E is a partial perspective view of the embodiment of FIG. 24A with some components removed for clarity.

Optionally, disposed on the discharge end of fluid arms 2720 a, 2720 b is nozzle 3000. FIG. 25 is a partial bottom view of the embodiment of FIG. 24A with an optional stop with some components removed for clarity. In one embodiment, the rotation of fluid arms 2720 a, 2720 b outward towards the plant transverse to the direction of travel can be limited by stop 2721 (2721 a, 2721 b), which is disposed on bracket base 2741 (2741 a, 2741 b) to limit the rotation of bracket base 2731 (2731 a, 2731 b). In another embodiment, a tab 2704 is disposed on the underside of bracket 2701. A stop 2703, which can have a U shape, is connected to bracket base 2702, and which limits the rotation of application unit 2700 when tab 2704 contacts stop 2703. In another embodiment, counteracting forces from bias element 2738 (2738 a, 2738 b) can limit the rotation of bracket base 2731 (2731 a, 2731 b) by being disposed over element 2734 (2734 a, 2734 b) on a side of bracket 2733 (2733 a, 2733 b) opposite to biasing element 2735 (2735 a, 2735 b).

FIG. 24B illustrates fluid arms 2720 a and 2720 b having magnets 2580 a and 2580 b, respectively, and corresponding Hall effect sensors 2581 a and 2581 b for sensing deflection or positional change of the fluid arms. The Hall effect sensor is a transducer that varies its output voltage in response to a magnetic field. The magnets 2580 a and 2580 b and corresponding Hall effect sensors 2581 a and 2581 b can have their locations switched or be located on any components of the application unit 2700.

The present design uses the application arms to measure plant characteristics (e.g., stalk diameter). A right arm from one unit extends to be in contact with a left arm of an adjoining unit. Before entering a row of plants of a field, a position of each of these arms is “zeroed” while they are in contact with each other. During operation, the arms deflect towards the middle of the row as they pass by a plant. Each arm is being deflected by approximately half of the diameter of the plant stalk. The corresponding readings are added together to provide a stalk diameter. For example, a smaller stalk diameter will cause a small deflection of the arms while a large stalk diameter will cause a large deflection of the arms. An angle of deflection or positional change of the arms can be used to calculate the stalk diameter between adjacent arms. The sensors measure a change in magnetic field of the magnets that is caused by the arms contacting stalks. The GPS location for each stalk diameter can be recorded and optionally displayed on a map on a display device.

In one example, the sensed data of the sensors can be ignored if the data is outside of an expected range. If an arm gets deflected too far (e.g., maybe an obstruction in the field), which would give too great of a stalk diameter, the measurement can be ignored. Also, if measurements occur when no stalk is expected to be present based on spacing between plants, then the reading can be ignored. This could also be a rock or clod of dirt sitting between plants.

In one embodiment illustrated in FIG. 24C, nozzle 3022 does not contact the plants, and the contact is made by ski 3030 a, 3030 b.

Optionally, coulter assembly 2780 can be connected to vertical support 2799. Coulter bracket arm 2781 is connected to vertical support 2799 at a first end, and at the opposite end, coulter 2782 is rotationally connected to coulter bracket arm 2781. Optionally, an extension arm 2783 is connected to coulter bracket arm 2781 and disposed rearwardly along a direction of travel. A knife 2784 is disposed downwardly from extension arm 2783 to engage the ground posterior to coulter 2782. Optionally, a fluid application line 2785 is disposed on knife 2784 for depositing fluid into the ground. As shown, application line 2785 is disposed on the posterior side of knife 2784 in the direction of travel, but application line 2785 can be disposed on any side of knife 2784.

Optionally, a cradle 2770 can be connected to bracket 2701 and disposed rearwardly in the direction of travel. Cradle 2770 has arms 2771 a, 2771 b and each has a receiver 2772 a, 2772 b, respectively (with an opening disposed upwards) for holding and retaining arms, respectively, when not in use, such as during transport. Arms 2771 a, 2771 b can be made as a unitary part or separate parts.

In addition to any of the application units described above, at least one sprayer may be further included. An example of a sprayer can be found in US20170049043, which is incorporated herein by reference.

FIG. 27 illustrates an embodiment of an application unit having inductive sensors for sensing plant characteristics in accordance with one embodiment. The application unit 2650 includes similar components in comparison to the application unit 2700, except that Hall effect sensors have been replaced with inductive sensors 2681 a and 2681 b that are disposed perpendicular to fluid arms 2620 a and 2620 b. When the arms rotate in a plane, the inductive sensors are positioned perpendicular to the plane. In one example, the arms rotate primarily in a horizontal plane and the sensors are disposed primarily in a vertical plane. At a reference or zero position, the arm is not under the sensor, but as the arm rotates, more of the arm is positioned under the sensor, which changes the inductance reading.

A signal generated by each inductive sensor is thus related to an angular position of each fluid arm primarily in a horizontal plane. An angular position of each fluid arm will change based on contact with the stalks of plants. An angle of deflection or positional change of the arms can be used to calculate the stalk diameter of a plant between adjacent arms.

In another embodiment, dampers can be included to dampen the motion of any member that contact plants. Examples of members include parts 922, 982, 1522, 1528, 1520, 1720, 3030, and 3110. In any of the embodiments illustrated in FIGS. 28A to 28D, the fluid application members are in fluid communication with a fluid source (not shown).

Illustrated in FIG. 28A, application unit 2891 includes a base 2812 with fluid application member 2805 (2805 a, 2805 b) for dispensing fluid. Damper 2861 (2861 a, 2861 b), such as a coil spring, is disposed about fluid application member 2805. Plant contacting member 2851 (2851 a, 2851 b) is connected to and extends from damper 2861 to contact plants. Plant contacting member 2851 can be a wire. Vibrations in plant contacting member 2851 are dampened by damper 2861.

Illustrated in FIG. 28B, application unit 2892 includes base 2812 with fluid application member 2806 (2806 a, 2806 b) for dispensing fluid. Connected to fluid application member 2806 is a plant contacting member 2830 (2830 a, 2830 b) for extending to and contacting plants. Disposed between plant contacting member 2830 and fluid application member 2806 is a damper 2862 (2862 a, 2862 b) for dampening vibrations caused by plant contacting member 2830 contacting plants. Examples of damper 2862 include, but are not limited to, shock absorber and dashpot.

Illustrated in FIG. 28C, application unit 2893 includes a base 2812 with fluid application member 2807 (2807 a, 2807 b) that extend from base 2812 to deliver fluid and contact plants. Connected to base 2812 and disposed to contact fluid application member 2807 is damper 2862 (2862 a, 2862 b).

Illustrated in FIG. 28D, application unit 2894 includes a base 2812 and linkage member 2820 (2820 a, 2820 b) for conveying fluid. Connected to linkage member 2820 is fluid application member 2822 (2822 a, 2822 b). Fluid application member can be a hose. Attached to fluid application member 2822 and extending to and contacting plants is plant contacting member 2851 (2851 a, 2851 b). Plant contacting member 2851 can be a wire or other flexible material. Connected to base 2812 and disposed to contact plant contacting member 2851 is damper 2862 (2862 a, 2862 b).

The plant contact members of FIGS. 28A-28D can each include sensors 2880 a and 2880 b for sensing deflection of the plant contact members and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

In another embodiment, with or without the damper, any of members that contact plants (such as 922, 982, 1522, 1528, 1520, 1720, 2851, 2830, 2807, 3030, 3110) have a length such that the member is in contact with at least two plants. Being in contact with at least two plants minimizes the outward flexing of the member.

While not shown, it is understood that any application unit described herein is in fluid communication with a source (e.g., tank 250) containing an application (e.g., fluid application, crop inputs such as fertilizer, fungicide, herbicide or insecticide).

In another embodiment, any of the embodiments in FIG. 17A or 24A-24E with a coulter 1791, 2782 the coulter can be replaced or any of the embodiments in FIG. 15A-15B, 17B-17C, 18A-18B, 19A-19C, 25, 26, 24A-24E, or 28A-28D can further include an in-row fluid application apparatus 8000. The in-row fluid application apparatus 8000 can be a nozzle 8010 that applies fluid to the rhizosphere and the middle of the row, and/or in-row fluid application apparatus 8000 can be a separate fluid apparatus 8100.

Fluid apparatus 8100 applies fluid to the middle of the row. FIGS. 31A to 35 illustrate disposing fluid apparatus 8100 on the embodiments illustrated in FIGS. 24A, 24B, 15A, 15B, 17C, and 25, respectively, with the coulter assembly 2780 removed from FIGS. 24A and 24B. Fluid apparatus has a first portion 8110 that is connected to a fluid source and disposed on vertical support 2799 (in FIGS. 31A, 31B, 34) or frames 1510 and 1511 (in FIGS. 32, 33, 35). A second portion 8111 is connected to the first portion 8110 and extends into the middle of the row. Second portion 8111 can be rigid or flexible. Any of the nozzles (3000, 8010, 8200, 8300, or 8400) described herein can be disposed at the outlet of second portion 8111.

Another embodiment for dispensing to the middle of the row is illustrated in FIGS. 30, 31, 32, 34, and 35 with nozzle 8050 (8050 a, 8050 b). While illustrated with fluid apparatus 8100 in these Figures to reduce the number of drawings, nozzle 8050 can be used independently from fluid apparatus 8100 or in combination with fluid apparatus 8100. Nozzle 8050 is disposed at any point along a member before the outlet. As illustrated, nozzle 8050(8050 a, 8050 b) is disposed in fluid arm 2720 (2720 a, 2720 b) in FIG. 30, in linkage member 1520 (1520 a, 1520 b) or flexible member 1522 (1522 a, 1522 b) in FIG. 31, linkage member 3220 (3220 a, 3220 b) in FIG. 32, in arm 1720 (1720 a, 1720 b) (not shown in FIG. 33), linkage member 3220 (3220 a, 3220 b) or flexible member 3222 (3222 a, 3222 b) in FIG. 34, or linkage member 1520 (1520 a, 1520 b) or flexible member 1522 (1522 a, 1522 b) in FIG. 35. Nozzle 8050 can be disposed on one (a side orb side only) or both (a side and b side) of any of the preceding members. When disposed on both sides, nozzle 8050 a and nozzle 8050 b can be disposed at the same distance along a member, or they can be offset from each other.

In any embodiment, the amount of fluid delivered to the middle of the row and the amount of fluid delivered to the rhizosphere can be divided by any selected division. For example, 75% of total fluid can be applied to the middle of the row and 25% of total fluid can be applied to the rhizosphere, which is split equally.

In another embodiment, any of the fluid outlets (ends of the fluid lines described herein, such as flexible member 922, flexible member 982, flexible member 1022, flexible member 1522, linkage member 1520, or fluid outlets 1530), fluid outlet 8801, or nozzles (3000 or 8010) can further include a variable orifice valve 8901 or a check valve 8902. As a representative illustration, FIG. 35 illustrates a variable orifice valve 8901 disposed at fluid outlet 1530.

In some embodiments, the pressure is controlled at the point of dispensing to prevent burping. Placing variable orifice valve 8901 or check valve 8902 allows pressure to be maintained throughout the entire system until it is dispensed.

It should be appreciated that the term nozzle has been used in this description to be consistent with the prior description of the nozzle but that when the nozzle is used in-line, the nozzle actually functions as a valve.

The linkage members of FIGS. 29-32, 34, and 35 can each include sensors 2980 a and 2980 b for sensing deflection of the linkage members and thus sensing plants to determine plant characteristics (e.g., stalk diameter).

In any of the embodiments for measuring stalk diameter, any arm (such as linkages 1520 a, 1520 b; arm 1720 a, 1720 b; linkage arms 1952 a, 1952 b; fluid arms 2620 a, 2620 b; and/or fluid arms 2720 a, 2720 b) or planting contacting member can also be used to count emerged plants to provide a stand count. In these embodiments, since stalk diameter does not need to be measured, one arm can be used to detect the presence of an emerged plant. The deflection of an arm indicates the presence of an emerged plant. The location of a sensed, emerged plant can be coupled with its GPS location and stored in memory 1205. A map can then be generated and displayed of the location of emerged plants in the field. The number of emerged plants can be compared to the population of seeds that were planted to calculate a percent emergence score. The location of emerged plants can also be combined with yield data after harvest.

Processing logic of a processing system (e.g., 1262, 1220) is configured to receive sensed data from any arm, to determine GPS location for emerged plants, and to generate a map data to display the locations of the emerged plants in a field. The processing logic is further configured to compare a number of emerged plants to the population of seeds that were planted for a given row or region and to calculate a percent emergence score.

Any of the following examples can be combined into a single embodiment or these examples can be separate embodiments.

In one example of a first embodiment, an application unit comprises a frame of an implement to be positioned in operation between first and second rows of plants, a first plant contacting member being pivotally coupled to the frame in operation such that the first plant contacting member to be deflected rearwardly with respect to a direction of motion of the frame upon the first plant contacting member contacting a plant of the first row of plants which causes a first change in orientation of the first plant contacting member with respect to the frame, and a sensor for sensing deflection of the plant contacting member by the plant to determine plant characteristics of the plant.

In another example of the first embodiment, a distal end of the first plant contacting member to contact a distal end of a second plant contacting member of another application unit of the implement in a reference position to calibrate positions of the first and second plant contacting members.

In another example of the first embodiment, the plant characteristics of the plant comprise a stalk diameter that is determined based on a positional change of the first and second plant contacting members from a reference position.

In another example of the first embodiment, the plant characteristics of the plant are determined based on corresponding sensor data for the first and second plant contacting members with sensed angular displacement readings or sensed displacement positional readings for the first and second plant contacting members in different rows being used to calculate the stalk diameter of the plant that contacted the first and second plant contacting members.

In another example of the first embodiment, the sensor comprises a Hall effect sensor, an angular displacement sensor, or an inductive sensor.

In another example of the first embodiment, the first plant contacting member is deflected by a first portion of a diameter of a stalk of the plant of the first row of plants and the second plant contacting member is deflected by a second different portion of the diameter of the stalk of the plant.

In another example of the first embodiment, the implement comprises at least one of a planter, a cultivator, a sprayer, a spreader, or an irrigation implement.

In another example of the first embodiment, the first plant contacting member pivots with a range of angular motion about an axis that is parallel to a vertical axis, wherein the first and second plant contacting members contact passing plants to cause rearward deflection.

In another example of the first embodiment, the application further comprises a biasing element to bias the first plant contacting member into a neutral position to which the first plant contacting member returns when not deflected by a plant or other obstacle.

In another example of the first embodiment, a length of the first plant contacting member is approximately one half of the row spacing between rows of plants.

In another example of the first embodiment, the application unit further comprises a fluid outlet for applying a fluid application to the first row of plants with the fluid outlet being mechanically linked to the first plant contacting member, wherein the first change in orientation causes a corresponding second change in orientation of the fluid outlet with respect to the frame.

In another example of the first embodiment, the sensor to sense deflection of the first plant contacting member upon contacting an emerged plant to generate sensed data and this sensed data indicates a presence of an emerged plant for counting plants in the first row of plants.

In one example of a second embodiment, an implement comprises a frame to be positioned in operation between two rows of plants, a first application unit coupled to the frame, the first application unit includes a first linkage member and a first sensor to sense positional changes of the first linkage member. A second application unit is coupled to the frame. The second application unit includes a second linkage member and a second sensor to sense positional changes of the second linkage member, wherein the first and second linkage members being adjacent to each other and the first and second sensors to sense data to determine plant characteristics for plants in a row.

In another example of the second embodiment, a distal end of the first linkage member to contact a distal end of the second linkage member in a reference position to calibrate positions of the first and second linkage members.

In another example of the second embodiment, the plant characteristics of the plants comprise a stalk diameter of each plant that is determined based on a positional change of the first and second linkage members from a reference position.

In another example of the second embodiment, the first sensor comprises a Hall effect sensor, an angular displacement sensor, or an inductive sensor.

In another example of the second embodiment, the first linkage member is deflected by a first portion of a diameter of a stalk of a plant and the second linkage member is deflected by a second different portion of the diameter of the stalk of the plant.

In another example of the second embodiment, the implement comprises at least one of a planter, a cultivator, a sprayer, a spreader, or an irrigation implement.

In one example of a third embodiment, an application unit comprises a plant contacting member being pivotally coupled to a frame of an implement in operation such that the plant contacting member to be deflected rearwardly with respect to a direction of motion of the frame upon the plant contacting member contacting plants of a row of plants which causes a change in orientation of the plant contacting member with respect to the frame and a sensor for sensing deflections of the plant contacting member by the plants to generate sensor data of plant characteristics and the sensor data is used to determine presence of plants to count emerged plants in the row.

In another example of the third embodiment, the sensor data in combination with GPS location for each sensing of an emerged plant is used to generate map data for displaying locations of emerged plants in a field.

In another example of the third embodiment, a number of emerged plants for the row is compared to a population of seeds that were planted in the row to calculate a percent emergence score.

It is to be understood that the above description is intended to be illustrative, and not restrictive. Many other embodiments will be apparent to those of skill in the art upon reading and understanding the above description. The scope of the disclosure should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. 

What is claimed is:
 1. An application unit comprising: a frame to be positioned in operation between first and second rows of plants; a first plant contacting member being pivotally coupled to the frame in operation such that the first plant contacting member to be deflected rearwardly with respect to a direction of motion of the frame upon the first plant contacting member contacting a plant of the first row of plants which causes a first change in orientation of the first plant contacting member with respect to the frame; and a sensor for sensing deflection of the plant contacting member by the plant to determine plant characteristics of the plant.
 2. The application unit of claim 1, wherein a distal end of the first plant contacting member to contact a distal end of a second plant contacting member of another application unit of the implement in a reference position to calibrate positions of the first and second plant contacting members.
 3. The application unit of claim 1, wherein the plant characteristics of the plant comprise a stalk diameter that is determined based on a positional change of the first and second plant contacting members from a reference position.
 4. The application unit of claim 3, wherein the plant characteristics of the plant are determined based on corresponding sensor data for the first and second plant contacting members with sensed angular displacement readings or sensed displacement positional readings for the first and second plant contacting members in different rows being used to calculate the stalk diameter of the plant that contacted the first and second plant contacting members.
 5. The application unit of claim 1, wherein the sensor comprises a Hall effect sensor, an angular displacement sensor, or an inductive sensor.
 6. The application unit of claim 1, wherein the first plant contacting member is deflected by a first portion of a diameter of a stalk of the plant of the first row of plants and the second plant contacting member is deflected by a second different portion of the diameter of the stalk of the plant.
 7. The application unit of claim 1, wherein the implement comprises at least one of a planter, a cultivator, a sprayer, a spreader, or an irrigation implement.
 8. The application unit of claim 1, wherein the first plant contacting member pivots with a range of angular motion about an axis that is parallel to a vertical axis, wherein the first and second plant contacting members contact passing plants to cause rearward deflection.
 9. The application unit of claim 1, further comprising: a biasing element to bias the first plant contacting member into a neutral position to which the first plant contacting member returns when not deflected by a plant or other obstacle.
 10. The application unit of claim 1, wherein a length of the first plant contacting member is approximately one half of the row spacing between rows of plants.
 11. The application unit of claim 1, further comprising: a fluid outlet for applying a fluid application to the first row of plants with the fluid outlet being mechanically linked to the first plant contacting member, wherein the first change in orientation causes a corresponding second change in orientation of the fluid outlet with respect to the frame.
 12. The application unit of claim 1, wherein the sensor to sense deflection of the first plant contacting member upon contacting an emerged plant to generate sensed data and this sensed data indicates a presence of an emerged plant for counting plants in the first row of plants.
 13. An implement comprising: a frame to be positioned in operation between two rows of plants; a first application unit coupled to the frame, the first application unit includes a first linkage member and a first sensor to sense positional changes of the first linkage member; and a second application unit coupled to the frame, the second application unit includes a second linkage member and a second sensor to sense positional changes of the second linkage member, wherein the first and second linkage members being adjacent to each other and the first and second sensors to sense data to determine plant characteristics for plants in a row.
 14. The implement of claim 13, wherein a distal end of the first linkage member to contact a distal end of the second linkage member in a reference position to calibrate positions of the first and second linkage members.
 15. The implement of claim 13, wherein the plant characteristics of the plants comprise a stalk diameter of each plant that is determined based on a positional change of the first and second linkage members from a reference position.
 16. The implement of claim 13, wherein the first sensor comprises a Hall effect sensor, an angular displacement sensor, or an inductive sensor.
 17. The implement of claim 13, wherein the first linkage member is deflected by a first portion of a diameter of a stalk of a plant and the second linkage member is deflected by a second different portion of the diameter of the stalk of the plant.
 18. The implement of claim 13, wherein the implement comprises at least one of a planter, a cultivator, a sprayer, a spreader, or an irrigation implement.
 19. An application unit comprising: a plant contacting member being pivotally coupled to a frame of an implement in operation such that the plant contacting member to be deflected rearwardly with respect to a direction of motion of the frame upon the plant contacting member contacting plants of a row of plants which causes a change in orientation of the plant contacting member with respect to the frame; and a sensor for sensing deflections of the plant contacting member by the plants to generate sensor data of plant characteristics and the sensor data is used to determine presence of plants to count emerged plants in the row.
 20. The application unit of claim 19, wherein the sensor data in combination with GPS location for each sensing of an emerged plant is used to generate map data for displaying locations of emerged plants in a field.
 21. The application unit of claim 20, wherein a number of emerged plants for the row is compared to a population of seeds that were planted in the row to calculate a percent emergence score. 